Design of Team Formation Simulation System for Unmanned Ground Vehicles Based on USARSim and ROS
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摘要: 针对越野非结构化环境下的地面无人平台(Unmanned ground vehicle, UGV)编队仿真系统存在功能模块不完善及算法集成测试困难等问题, 为便于有效测试地面无人平台编队协同控制方法性能及其适用的任务场景, 降低编队协同系统的开发成本, 本文提出了一种基于USARSim (Unified System for Automation and Robotics Simulator)和ROS (Robot Operating System)的地面无人平台编队协同仿真系统. 该仿真系统由人机交互界面、基于ROS架构的地面无人平台控制系统和基于USARSim的虚拟仿真场景三个部分组成, 其测试对象为地面无人平台编队协同控制算法. 通过充分利用ROS中集成的开源导航算法和USARSim中丰富的机器人及环境模型, 该系统为研究地面无人平台编队协同控制算法提供了新的思路和快速验证工具. 以领航者−跟随者编队控制方法为例进行该仿真系统的性能测试, 实验结果表明, 该仿真系统能够在外界条件一致的情况下完成对编队协同控制方法的性能测试, 系统稳定可靠.Abstract: Aiming at the problems of imperfect modules and difficult integration of UGV formation control system in off-road unstructured environment, a formation collaborative simulation system is proposed for testing the formation control method of UGV or its applicable mission scenarios, which is based on USARSim (Unified System for Automation and Robotics Simulator) and ROS (Robot Operating System). In this way, the cost for developing formation collaborative system should be reduced. The simulation system is composed of human-machine interaction, UGV control system based on ROS and virtual simulation scenarios based on USARSim. The test object is the formation cooperative control algorithm of UGV. The simulation system makes full use of the open-source navigation algorithm integrated in ROS and the rich robotic models and environment models in USARSim to provide new ideas and rapid verification tools for the research of formation control algorithms. Taking the leader-followers formation control method as an example to test the performance of the proposed simulation system, the experimental results show that the simulation system can test the performance of the formation cooperative control method under the same external conditions, and the system is stable and reliable.
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Key words:
- UGV /
- team formation /
- USARSim /
- ROS /
- simulation system
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图 1 基于USARSim和ROS的地面无人平台编队协同仿真系统结构
Fig. 1 The architecture of formation simulation system for UGV based on USARSim and ROS
图 4 基于ROS架构的地面无人平台控制系统结构
Fig. 4 The architecture of control system for UGV based on ROS
图 13 三角形编队任务中的跟随者航向角误差
Fig. 13 Heading angle error for followers during triangle formation control
图 14 三角形编队任务中的跟随者轨迹曲线
Fig. 14 Trajectories for followers during triangle formation control
表 1 仿真测试硬件配置
Table 1 Hardware configuration in simulation
计算机编号 操作系统 IP地址 角色 1# Windows10 192.168.0.200 人机交互 2# Windows10 192.168.0.201 USARSim 3# ROS Melodic 192.168.0.100 领航者(UGV_0) 4# ROS Melodic 192.168.0.101 跟随者(UGV_1) 5# ROS Melodic 192.168.0.102 跟随者(UGV_2) 
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表 2 领航者−跟随者编队方法在不同仿真平台下的测试对比
Table 2 The comparison of leader-follower formation in different simulation systems
对比项 本文仿真系统 MATLAB LabVIEW UGV_1 位置$x$绝对误差 2.18 cm $\Delta x\to 0$ $\Delta x\to 0$ UGV_1 位置$y$绝对误差 3.14 cm $\Delta y\to 0$ $\Delta y\to 0$ UGV_1 航向角相对误差 0.26 % $\Delta \theta\to 0$ $\Delta \theta\to 0$ UGV_2 位置$x$绝对误差 4.89 cm $\Delta x\to 0$ $\Delta x\to 0$ UGV_2 位置$y$绝对误差 3.38 cm $\Delta y\to 0$ $\Delta y\to 0$ UGV_2 航向角相对误差 0.43 % $\Delta \theta\to 0$ $\Delta \theta\to 0$ 场景逼真度 $\bullet\bullet\bullet$ $\bullet$ $\bullet\bullet$ 人机交互 $\bullet\bullet\bullet$ $\bullet$ $\bullet\bullet$ 可扩展性 (感知及导航) $\bullet\bullet\bullet$ $\bullet\bullet$ $\bullet$ 开发简易性 $\bullet\bullet\bullet$ $\bullet\bullet$ $\bullet$
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