基于人在回路的地面无人平台仿真系统设计

地面无人平台(unmanned ground vehicle,UGV)已成为各国军事装备自动化和智能化的发展方向,针对UGV仿真系统存在人类智能融合度低、功能不完善和不便于进行算法测试等问题,通过引入人在回路的输入模型,设计了一种具有更强智能性的UGV仿真系统.该仿真系统以机器人操作系统(robot operating...

Design of simulation system for UGVs based on human-in-the-loop

Unmanned ground vehicle(UGV)has become the development direction of the automation and intelligence of military equipment in various countries.A simulation system based on human-in-the-loop for UGVs is proposed,which aims at solving the low integration of human intelligence,imperfect functions and difficulty in integration testing in the existing simulation systems.The proposed simulation system consists of a human-machine interaction interface based on the human-in-the-loop and a simulation scene based on CoppeliaSim,which is also compatible with the robot operating system(ROS).The intelligence of the system is enhanced by introducing the input model of the human-in-the-loop.In order to verify the effectiveness of the simulation system,an integrated environment is built to test the triangular formation of the UGVs.The experimental results show that the system is stable and reliable with high integration.