摘要
针对目前matlab、Webots等算法仿真软件的仿真效果差、使用复杂等不足,以麦克纳姆轮移动平台的避障仿真为例,介绍了使用Unity3d引擎进行算法仿真的方法。该方法包括:利用第三方CAD软件进行样机的物理建模,并导入Unity3d软件中;建立麦克纳姆轮移动平台的运动模型,并根据运动模型对导入的物理模型进行处理;以A*避障算法为基础,编写虚拟样机的控制程序;建立仿真环境,进行避障算法仿真。仿真结果验证了使用Unity3d进行算法仿真的可行性,且其具有使用简单、仿真效果好、支持自建模型的优点。为机器人控制算法的仿真建立了1种新方法。
In order to solve the poor simulation effect and the use of complex shortcomings of the current algorithm simulation software like matlab and Webots,the simulation of obstacle algorithm on Mecanum wheel mobile platform was chosen as an example,and the method of using Unity3 dengine to simulate the obstacle avoidance algorithm is introduced in detail.The method include：building aphysical model by using third party CAD software,and introducing it into the Unity3 dsoftware.Establishing the kinematic model of Mecanum wheel mobile platform,and processing the physical model according to the kinematic model.Writing the control program of the virtual prototype model on the basis of A＊ obstacle avoidance algorithm.Simulating the obstacle algorithm,and establishing the simulation environment.The feasibility of using Unity3 dto simulate the algorithm was verified by the simulation results.And the method has the advantages of simple use,good simulation effect and the support of selfbuild model.A new method was established for the algorithm simulation of the robots control algorithms.
出处
《中国科技论文》
CAS
北大核心
2016年第10期1191-1195,共5页
China Sciencepaper
基金
国家自然科学基金资助项目(51205391)
