摘 要:根据多机器人通信网络的特点,提出了一种多机器人通信仿真系统, 并通过一个网络可重构的通信方式给出了该系统的实现。机器人的移动性使之组建的通信网络可靠性很差,可重构的机器人通信方式可显著提高网络的通信质量。当前的多机器人仿真系统有很多,而具有通信仿真功能的较少。该仿真系统采用节点随机停留运动模型和模块化设计,可用于仿真多机器人通信网络。系统还提供了与其他机器人控制算法的接口,可进行其他仿真工作。
关键词:多机器人系统; 网络可重构; 仿真系统; 簇结构
Simulation system for multi-robots based on network reconfigurable
REN Xiao-ping, CAI Zi-xing, LU Wei-wei
(School of Information Science & Engineering, Central South University, Changsha 410083, China)
According to the characteristic of communication network of mulit-robots, presented a communication simulation system for multi-robots and realized through a network reconfigurable communication technology. The reliability of communication network was poor because of mobile character of robots, reconfigurable communication technology used on robots could remarkably improve communication quality. Nowadays there were many multi-robots simulation systems, but the number of simulation system which could provide simulating communication network was less. Random waypoint module and modularization design technology were adopted in this multi-robots simulation system, which could simulate the robots communication network. Provided interfaces for other control arithmetic, which facilitated the simulation on multi-robots system. ......