A Flexible Mixed Reality Simulation Framework for Software Development in Robotics
A Flexible Mixed Reality Simulation Framework for Software Development in Robotics
复制标题
用于机器人软件开发的灵活混合现实仿真框架
DOI：
10.6092/joser_2011_01_01_p40
复制
发表时间：
2011
期刊：
影响因子：
--
通讯作者：
B. Wuensche
中科院分区：
文献类型：
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作者：
I. Chen;B. MacDonald;B. Wuensche
近年来，机器人的功能得到了显着改善，但其设计也变得更加复杂。任务和机器人设计复杂性的增加导致机器人开发周期充满挑战且耗时。本文确定了改进机器人开发过程的要求，重点是促进从模拟到现实世界测试的安全可靠的过渡过程。我们建议，通过将混合现实（MR）的概念应用于机器人模拟，可以创建一个真实的合成环境，使机器人软件开发人员能够自由、安全地进行实验。这种新的模拟方法被称为 MR 模拟，它可以灵活地创建由彼此无缝交互的真实和虚拟对象组成的模拟环境。本文提出了一个通用的、概念性的 MR 框架，该框架被证明可以为涉及真实和虚拟对象的实验提供一个通用的、标准化的模拟环境。基于该框架实现了MR机器人模拟器，在其设计中集成了标准化数据接口以提高互操作性。评估结果表明，MR 机器人模拟器可在三种不同的应用中重复使用。它提高了仿真可靠性、降低了开发成本并提高了效率。
In recent years robots have dramatically improved in functionality, but as a result their designs have also become more complicated. The increase in the complexity of the tasks and the design of the robot result in a challenging and time-consuming robot development cycle. This paper identifies requirements for improving the robot development process, focusing on facilitating a safe and reliable transition process from simulation to real world tests. We propose that, by applying the concept of Mixed Reality (MR) to robot simulation, it is possible to create a realistic, synthetic environment that enables robot software developers to experiment freely and safely. The new simulation approach, named MR simulation, offers the flexibility of creating simulation environments composed of real and virtual objects that seamlessly interact with one another. This paper contributes a generic, conceptual MR framework which is demonstrated to provide a common, standardised simulation environment for experimentation involving real and virtual objects. An MR robot simulator is implemented based on the framework, integrating standardised data interfaces in its design to increase interoperability. Evaluation results demonstrate that the MR robot simulator is reusable in three different applications. It improved simulation reliability, reduced development cost, and increased efficiency.