冰壶人工智能与控制虚拟仿真实验设计

Design of Virtual Simulation Experiment for Curling Artificial Intelligence and Control

面向人工智能与自动化相关专业的实验教学,以冰壶机器人比赛为背景,设计了基于三维虚拟仿真引擎的实验平台进行冰壶比赛中的运动、摩擦、重力、碰撞等物理过程的模拟。通过对虚拟仿真平台的数据生成和消息传输机制进行研究,获得了仿真场景生成的实例分割图像。基于域随机化机制对冰壶位置、相机位姿、光照方向和强度、障碍物、目标材质等进行随机调整,实现了目标检测任务与位姿估计任务的仿真训练数据自动标注。冰壶人工智能与控制虚拟仿真实验可为相关人工智能与控制算法研究提供数据支持。

For the experimental teaching of artificial intelligence and automation related majors, taking the curling robot competition as the background, an experimental platform based on three-dimensional virtual simulation engine is designed to simulate the physical processes such as motion, friction, gravity and collision in the curling competition. By studying the data generation and message transmission mechanism of the virtual simulation platform, the instance segmentation image generated by the simulation scene is obtained. Based on the domain randomization mechanism, the curling position, camera pose, illumination direction and intensity, obstacles and target material are randomly adjusted, and the automatic annotation of simulation training data of target detection task and pose estimation task is realized. The virtual simulation experiment of curling artificial intelligence and control can provide data support for the research of relevant artificial intelligence and control algorithms.