Distributed simulation and virtual reality visualization of multi-robot distributed receding horizon control systems

被引：3
|
作者：
Zhao, Yan [1 ]
Bai, Liang [1 ]
Gordon, Brandon W. [1 ]
机构：
[1] Concordia Univ, Control & Informat Syst Lab, Dept Mech & Ind Engn, Montreal, PQ H3G 1M8, Canada
来源：
2007 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS, VOLS 1-5 | 2007年
关键词：
real-time distributed RHC; virtual reality; formation control; 6-DOF platform;
D O I：
10.1109/ROBIO.2007.4522350
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper presents a new framework and experimental setup for distributed simulation and virtual reality visualization of multi-robot receding horizon control (RHC) systems. A distributed RHC algorithm for formation control of multi-robot systems is implemented on multiple computers using a UDP/IP network and synchronization functions for real-time implementation. An object oriented virtual reality (VR) environment is also developed which can be interfaced with the distributed simulation. Several types of VR ground and air vehicles can be simulated and combined with the distributed RHC system for verification of the controller in an unstructured VR environment Furthermore, a 6 degree of freedom motion platform is integrated with the system to allow pilot vehicle interaction studies. Together this work provides a general and useful tool for development and testing of multi-robot distributed RHC control systems.
引用
收藏
页码：1290 / 1295
页数：6
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