可重构星球探测机器人的OpenGL仿真实验平台研究

采用基于Visual C++和OpenGL的建模和运动仿真方法,对可重构星球探测机器人系统的三维运动仿真实验平台进行了研究,建立了一个多机器人系统的仿真实验平台。开发的实验平台可用于探索和验证机器人系统的工作原理、工作空间、多机器人协调算法、重构方法、系统集成技术等。在该平台上进行了机器人的运动学仿真和协调运动研究,验证了该仿真平台的有效性和机器人系统体系结构的合理性。

A 3D experimental platform for simulation of RPRS (Reconfigurable Planetary Robot System) is introduced. The architecture and the simulation technology of RPRS are also discussed. OpenGL and Visual C++ based modeling method has been used to establish the simulation platform. The principle of RPRS, the work space, the multi-robot motion coordination, and the system integration can be explored and verified by this platform. A multi-robot system has been used to verify the practicability of the developed platform. The effectiveness of the developed experimental platform and the architecture of RPRS are successfully demonstrated by the simulation results.

国家863计划资助项目(2002AA422130)