摘要
地面无人平台(unmanned ground vehicle,UGV)已成为各国军事装备自动化和智能化的发展方向,针对UGV仿真系统存在人类智能融合度低、功能不完善和不便于进行算法测试等问题,通过引入人在回路的输入模型,设计了一种具有更强智能性的UGV仿真系统。该仿真系统以机器人操作系统(robot operating system,ROS)架构为基础进行设计,主要由基于人在回路的人机交互界面和仿真场景构成。为了验证该仿真系统的有效性,搭建了集成测试环境,对UGV三角协同编队和操控员调配UGV纵向编队进行测试。实验结果表明,该仿真系统集成度高、运行稳定可靠。
Unmanned ground vehicle(UGV)has become the development direction of the automation and intelligence of military equipment in various countries.A simulation system based on human-in-the-loop for UGVs is proposed,which aims at solving the low integration of human intelligence,imperfect functions and difficulty in integration testing in the existing simulation systems.The proposed simulation system consists of a human-machine interaction interface based on the human-in-the-loop and a simulation scene based on CoppeliaSim,which is also compatible with the robot operating system(ROS).The intelligence of the system is enhanced by introducing the input model of the human-in-the-loop.In order to verify the effectiveness of the simulation system,an integrated environment is built to test the triangular formation of the UGVs.The experimental results show that the system is stable and reliable with high integration.
作者
张浩杰
梁荣敏
张玉东
ZHANG Haojie;LIANG Rongmin;ZHANG Yudong(Key Laboratory of Knowledge Automation for Industrial Processes of Ministry of Education, School of Automation and Electrical Engineering, University of Science and Technology Beijing, Beijing 100083, China;Shunde Graduate School, University of Science and Technology Beijing, Foshan 518054, China)
出处
《系统工程与电子技术》
EI
CSCD
北大核心
2022年第2期538-545,共8页
Systems Engineering and Electronics
基金
国家自然科学基金青年科学基金(61806183)资助课题。
关键词
地面无人平台
人在回路
仿真系统
人机交互
机器人操作系统
unmanned ground vehicle(UGV)
human-in-the-loop
simulation system
human-machine interaction
robot operating system(ROS)
