The research on mobile robot simulation and visualization under Virtual Reality

摘要

Simulation under Virtual Reality is the front edge of simulation technology. And also, it provide a new method for integrated multisensor simulation under a united environment. In the past, most simulation and animation systems utilized in robotics, which are concerned with simulation of the robot and its environment without simulation of sensors, have difficulty in handling robots that utilize sensory feedback in their operation. Currently, navigation and planning heavily depended on perception has already been mainstream in robotics. Sensor fusion plays a important role in navigation. So, it is important to do research on simulators which deal with multisensor, integrated robot simulation. In this paper, we present a system, which is integrated multisensor feedback under virtual reality, and describe the system architecture and dynamic behavior simulation model. Meanwhile, we also give the difference of simulation between VR system and general 2D system. We choice the mobile robot THMRIII as original source, and give it dynamic simulation model. In order to simulate the uncertainty of ultrasonic sensor, we identify three kinds of uncertainty, and give a ultrasonic sensor model based on fuzzy theory. The sensor simulation algorithm is presented. At the end of this paper, we conclude with discussion of sensor fusion under 3D visualized integrated environment.