서버-클라이언트 구조의 다중로봇 시뮬레이션 프로그램의 개발

Abstract

This paper focuses on building multiple robot simulation program controlling the robots via wireless internet and inter-process communication. We tested the proposed simulation program in real heterogeneous multiple robot systems. One of them is TRESTLE project which is a research project in The Robotics Institute of Carnegie Mellon University. The robots in the simulation system are as the followings: a mobile manipulator, crane robot, roving eyes. In addition, it is tested for motion planning of the Nomad Super Scout II and Pioneer Peoplebot. Using the simulation program reduces a lot of time and cost in algorithm development and also reduces the dangerous job of real hardware test. This simulation program consists of server-client architecture and can describe robots and environment more realistically by OpenGL Library. Thus, users can confirm a robot's collision in any angle and point. Robots can extend their function and structure easily because all robot modules are built by class. I made use of Visual C++, IPC, OpenGl Library and mescach library in Microsoft Windows XP Operating System to build the simulator. Its performance is similar as real hardware and a user can save time and cost by this program. This paper introduces other simlation programs which are already developed and used in second section. In third section, it describes detailed structure of RoboIPC simulation program. I test some experimentations by RoboIPC in fourth section and compare it with other programs in fifth section. Finally, I make a conclusion in sixth section. The simulator is useful to make efficient motion plan of multiple robots as well as verification of the safe motion. So, it saves time and cost and reduces possible safety problem.