多机器人规划与控制的通用半实物仿真平台及方法
By designing a general-purpose hardware-in-the-loop simulation platform for multi-robot planning and control, and by combining small omnidirectional mobile robots with virtual obstacles, the platform solves the problems of poor simulation verification effect and large limitations of physical verification systems in existing multi-robot algorithm testing platforms, and realizes efficient and low-cost multi-robot experimentation and algorithm iteration.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- NAT UNIV OF DEFENSE TECH
- Filing Date
- 2024-01-16
- Publication Date
- 2026-07-17
AI Technical Summary
Existing multi-robot planning and control algorithm testing platforms suffer from poor simulation verification results and significant limitations in physical verification systems. They cannot reproduce algorithm test results in real-world environments, and physical experiments are time-consuming, costly, and have poor scalability.
A general-purpose hardware-in-the-loop simulation platform for multi-robot planning and control is designed. It adopts a small omnidirectional mobile robot combined with the virtual presentation of the test scenario. Virtual and physical obstacles are simulated through a touch screen. The robot motion control is realized by wireless communication and control algorithms, and a user-friendly human-machine interface is provided.
It improves the reliability and efficiency of algorithm testing, reduces physical robot wear and tear, supports large-scale multi-robot trials, simplifies the test preparation process, enhances the demonstration of test results, supports user-defined task environments and parameters, and reduces algorithm iteration time.
Smart Images
Figure CN117784637B_ABST