CyberEarth: a Virtual Simulation Platform for Robotics and Cyber-Physical Systems

摘要

The increasing sophisticated robot and intelligent system applications require universal visualization platforms which can guarantee the security and efficiency of task process execution in the situation of user-programming and using different kinds of automated equipment. In this paper, we present a universal visualization framework to build up program-driven simulation software of complex robots and intelligent systems by integrating several open-source technical modules, including Ubuntu Linux operation-system, QT Creator IDE environment, ROS robot operation system, OSG(OpenSceneGraph) 3D scene, osgEarth GIS(Geographic Information System)-based 3D scene, and also Python based user-programing robotic script language. Many complex visualization simulation systems of complex tasks in wide area and dynamic scenarios are realized by using this framework. Based on this framework, we built a virtual simulation platform CyberEarth for robotics and Cyber-Physical systems. The typical robotic simulation task, which is a visual coverage task for Multi-Agent/UAV, is also introduced to demonstration the universality of this platform.