CN111414688A - Mobile robot simulation system and method based on UNITY engine - Google Patents
Mobile robot simulation system and method based on UNITY engine Download PDFInfo
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Abstract
The invention relates to a mobile robot simulation system based on a UNITY engine, which is characterized in that the system construction is completed by a mathematical modeling tool and a scene modeling tool, and the system construction comprises a simulation environment and an intelligent control algorithm. The invention provides a mobile robot simulation method based on the UNITY engine. The invention provides a method and a system for simulation test of a mobile robot, which can greatly save the labor and time cost of field test on one hand, and also provide an idea for the test specification or the test standard of an intelligent algorithm on the other hand. The invention can realize the dynamic simulation, the sensor simulation and the scene simulation of the mobile robot, realize the intelligent algorithm test, the sensor function test and the like of the mobile robot, quickly customize a test system and complete the test task under the condition of saving the labor cost.
Description
Technical Field
The invention belongs to the technical field of mobile robot simulation, relates to the field of mobile robot motion control algorithms, and particularly relates to a mobile robot simulation system and method.
Background
Mobile robots are endowed with increasingly broad functions and have great leaps in function and technology, and can accomplish many complex tasks. Mobile robots are also increasingly used to perform tasks in industrial production, family life, community, hospital, etc. scenarios. Therefore, how to make the robot possess intelligent behaviors through self-study, self-learning, simulation and replication becomes a big problem in the fields of research institutes, academic circles, enterprises and the like.
At present, intelligent algorithms such as neural networks, genetic algorithms, ant colony algorithms and the like are considered to be capable of completing many complex tasks like human beings, but how well, how well and how effectively the intelligent algorithms are completed are worthy of further exploration.
Disclosure of Invention
The invention aims to: the simulation control and test of the robot are realized, so that the intelligent algorithm is conveniently evaluated.
In order to achieve the above object, the technical solution of the present invention is to provide a mobile robot simulation system based on a UNITY engine, which is characterized in that the system construction is completed by a mathematical modeling tool and a scene modeling tool, and includes a simulation environment and an intelligent control algorithm, wherein:
the simulation environment comprises sensor simulation, mobile robot body simulation, mobile robot dynamics simulation, mobile robot control simulation and environment modeling which are completed by using a scene modeling tool, and the scene environment modeling provides a virtual scene and an environment basis for the sensor simulation, the mobile robot body simulation, the mobile robot dynamics simulation and the mobile robot control simulation;
the intelligent control algorithm is an intelligent control algorithm for obstacle avoidance, path finding and path planning of the mobile robot realized by using a mathematical modeling tool;
the sensor simulation, the mobile robot body simulation, the mobile robot dynamics simulation and the environment modeling are operated at a client, and the mobile robot control simulation and the intelligent control algorithm are operated at a server;
the client and the server transmit data through Ethernet and keep communication in real time, the sensor data acquired by the sensor in the simulation environment is sent to an intelligent control algorithm through the Ethernet, the intelligent control algorithm is calculated and then sends a generated control instruction set to the simulation environment, the mobile robot dynamics simulation and the mobile robot control the mobile robot body to simulate the motion in the simulation environment, and the sensor data acquired by the sensor in the simulation process is fed back to the intelligent control algorithm.
Preferably, the mathematical modeling tool adopts MAT L AB, and the scenario modeling tool adopts Unity.
Preferably, a transmission data protocol for transmitting data may be customized to achieve reusability and versatility of the mobile robot simulation system.
Another technical solution of the present invention is to provide a mobile robot simulation method based on a UNITY engine, including the steps of:
the method comprises the following steps: establishing a communication channel between a server and a client, keeping the server in a receiving state, and waiting for verification data of the client;
step two: after receiving the verification data sent by the server, the server verifies whether the verification data is correct or not, if not, the server is disconnected from the server, if so, the server feeds back a verification message passing the verification to the client and then enters the third step, and meanwhile, the client verifies whether the verification message is correct or not, if not, the server is disconnected from the server, if so, the client continues to keep a connection state with the server, and meanwhile, the client sends an initialization message to the server, and the fourth step is entered;
step three: the server side initializes the verification program and then enters the fourth step;
step four: the server side verifies the received initialization message through the verification program, if the initialization message passes the verification, the server side sends an initialization message verification passing message to the client side, and if the initialization message does not pass the verification, the server side returns to the third step;
step five: after the client receives the initialization message verification passing message, starting a motion mode: firstly, a mobile robot controls simulation to control the motion speed of the simulation of a mobile robot body, the mobile robot dynamically simulates to execute motion simulation, and finally, simulation data is acquired through sensor simulation and is sent to an intelligent control algorithm, and a scene environment modeling sends environment information data to the intelligent control algorithm;
step six: after the server receives the environmental information data and the sensor data, an intelligent control algorithm utilizes the received data to build a map and avoid obstacles to obtain the advancing and steering data of the mobile robot, and simultaneously sends the advancing and steering data to the client;
step seven: the client controls simulation to control the simulation motion of the mobile robot body in real time by using the received advancing and steering data of the mobile robot, judges whether to send a movement stop command to the server end in real time, and closes the connection and terminates the simulation if the client judges to send the stop command to the server end;
step eight: when the server receives the stop command, the server closes the connection with the client and terminates the server program.
The invention provides a method and a system for simulation test of a mobile robot, which can greatly save the labor and time cost of field test on one hand, and also provide an idea for the test specification or the test standard of an intelligent algorithm on the other hand. The invention can realize the dynamic simulation, the sensor simulation and the scene simulation of the mobile robot, realize the intelligent algorithm test, the sensor function test and the like of the mobile robot, quickly customize a test system and complete the test task under the condition of saving the labor cost.
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FIG. 1 is a schematic diagram of a simulation function of a mobile robot;
fig. 2 is a simulation workflow of a mobile robot.
Detailed Description
The invention will be further illustrated with reference to the following specific examples. It should be understood that these examples are for illustrative purposes only and are not intended to limit the scope of the present invention. Further, it should be understood that various changes or modifications of the present invention may be made by those skilled in the art after reading the teaching of the present invention, and such equivalents may fall within the scope of the present invention as defined in the appended claims.
As shown in FIG. 1, the invention uses a mathematical modeling tool MAT L AB and a scene modeling tool Unity to complete the set-up task of the mobile robot simulation system based on the UNITY engine provided by the invention, the system uses the mode of Ethernet connection to complete the following functions:
firstly, an intelligent control algorithm for obstacle avoidance, path finding and path planning of the mobile robot is realized by using a mathematical modeling tool MAT L AB.
Secondly, the method comprises the following steps: the scene modeling tool Unity is used for realizing a simulation environment, and the following simulation functions are completed: robot appearance simulation, dynamics simulation, sensor function simulation, and environmental simulation.
Thirdly, the method comprises the following steps: the sensor data collected by the simulation environment is sent to a control algorithm in a mathematical modeling tool through Ethernet, and after the control algorithm is calculated, a control instruction is sent to the simulation environment to control the motion of the simulation robot in the simulation environment
The system provided by the invention can realize the butt joint of a robot algorithm and a simulation system in a TCPIP protocol, a serial interface protocol and other modes to construct a simulation test system applied to the mobile robot.
Fig. 1 is a schematic diagram of a simulation function of a mobile robot. The invention provides a mobile robot simulation system based on a UNITY engine, which comprises a sensor simulation function realized by sensor simulation, a mobile robot body simulation function realized by mobile robot body simulation, a mobile robot dynamics simulation function realized by mobile robot dynamics simulation, a mobile robot control simulation function realized by mobile robot control simulation and an environment modeling function realized by environment modeling. The environment modeling is the basis of the simulation system provided by the invention, and provides a virtual scene and an environment basis for sensor simulation, mobile robot body simulation, mobile robot dynamics simulation and mobile robot control simulation. Through the 5 functions, the simulation test field of the mobile robot can be basically covered, and finally, a simulation test system special for the mobile robot is completed.
The number 1 in fig. 1 indicates a simulation data packet sent by the simulation environment to the intelligent control algorithm, which may contain sensor data, time-related data, location data, etc.
Reference numeral 2 in fig. 1 denotes a control instruction set that the intelligent control algorithm sends to the simulation environment, and the control instruction set may include information on start and stop of the mobile robot, a moving speed, a steering speed, and the like.
Furthermore, the mobile robot simulation system based on the UNITY engine provided by the invention can customize a data transmission protocol, data can be transmitted between the simulation environment and the intelligent environment through a TCPIP protocol, a serial interface protocol and the like, and the data transmission protocol can be customized, so that the reusability and the universality of the test system are realized.
Fig. 2 is a flow chart of a simulation work of the mobile robot, and based on the flow chart, a mobile robot simulation test system based on Matlab and Unity can be constructed. The system is divided into a server side and a client side, wherein the server side mainly relates to tasks such as speed control, steering control, path planning, map building and the like of the mobile robot, and comprises a mobile robot control simulation and an intelligent control algorithm. The client mainly relates to scene modeling, sensor simulation, mobile robot body simulation, mobile robot dynamics simulation, functions of receiving a mobile terminal instruction and sending simulation data, and comprises sensor simulation, mobile robot body simulation, mobile robot dynamics simulation and environment modeling. The server and the client need to keep communication in real time to keep real-time receiving and sending of simulation data and control commands, such as serial number 1 and serial number 2 in fig. 1. The method comprises the following specific steps:
the method comprises the following steps: establishing a communication channel between a server and a client, keeping the server in a receiving state, and waiting for verification data of the client;
step two: after receiving the verification data sent by the server, the server verifies whether the verification data is correct or not, if not, the server is disconnected from the server, if so, the server feeds back a verification message passing the verification to the client and then enters the third step, and meanwhile, the client verifies whether the verification message is correct or not, if not, the server is disconnected from the server, if so, the client continues to keep a connection state with the server, and meanwhile, the client sends an initialization message to the server, and the fourth step is entered;
step three: the server side initializes the verification program and then enters the fourth step;
step four: the server side verifies the received initialization message through the verification program, if the initialization message passes the verification, the server side sends an initialization message verification passing message to the client side, and if the initialization message does not pass the verification, the server side returns to the third step;
step five: after the client receives the initialization message verification passing message, starting a motion mode: firstly, a mobile robot controls simulation to control the motion speed of the simulation of a mobile robot body, the mobile robot dynamically simulates to execute motion simulation, and finally, simulation data is acquired through sensor simulation and is sent to an intelligent control algorithm, and a scene environment modeling sends environment information data to the intelligent control algorithm;
step six: after the server receives the environmental information data and the sensor data, an intelligent control algorithm utilizes the received data to build a map and avoid obstacles to obtain the advancing and steering data of the mobile robot, and simultaneously sends the advancing and steering data to the client;
step seven: the client controls simulation to control the simulation motion of the mobile robot body in real time by using the received advancing and steering data of the mobile robot, judges whether to send a movement stop command to the server end in real time, and closes the connection and terminates the simulation if the client judges to send the stop command to the server end;
step eight: when the server receives the stop command, the server closes the connection with the client and terminates the server program.
The test system and the test method provided by the invention can reduce the labor cost of the test, shorten the development and test period of the mobile robot control system, realize the substitution of a real scene by using a virtual scene, realize the reproducibility and observability of the control effect and the like.
Claims (4)
1. The utility model provides a mobile robot simulation system based on UNITY engine which characterized in that, accomplishes the system and builds by mathematical modeling instrument and scene modeling instrument, including simulation environment and intelligent control algorithm, wherein:
the simulation environment comprises sensor simulation, mobile robot body simulation, mobile robot dynamics simulation, mobile robot control simulation and environment modeling which are completed by using a scene modeling tool, and the scene environment modeling provides a virtual scene and an environment basis for the sensor simulation, the mobile robot body simulation, the mobile robot dynamics simulation and the mobile robot control simulation;
the intelligent control algorithm is an intelligent control algorithm for obstacle avoidance, path finding and path planning of the mobile robot realized by using a mathematical modeling tool;
the sensor simulation, the mobile robot body simulation, the mobile robot dynamics simulation and the environment modeling are operated at a client, and the mobile robot control simulation and the intelligent control algorithm are operated at a server;
the client and the server transmit data through Ethernet and keep communication in real time, the sensor data acquired by the sensor in the simulation environment is sent to an intelligent control algorithm through the Ethernet, the intelligent control algorithm is calculated and then sends a generated control instruction set to the simulation environment, the mobile robot dynamics simulation and the mobile robot control the mobile robot body to simulate the motion in the simulation environment, and the sensor data acquired by the sensor in the simulation process is fed back to the intelligent control algorithm.
2. The UNITY engine-based mobile robot simulation system of claim 1, wherein the mathematical modeling tool uses MAT L AB and the scenario modeling tool uses UNITY.
3. The UNITY engine-based mobile robot simulation system of claim 1, wherein a transmission data protocol for transmitting data can be customized to achieve reusability and versatility of the mobile robot simulation system.
4. A mobile robot simulation method based on a UNITY engine is characterized by comprising the following steps:
the method comprises the following steps: establishing a communication channel between a server and a client, keeping the server in a receiving state, and waiting for verification data of the client;
step two: after receiving the verification data sent by the server, the server verifies whether the verification data is correct or not, if not, the server is disconnected from the server, if so, the server feeds back a verification message passing the verification to the client and then enters the third step, and meanwhile, the client verifies whether the verification message is correct or not, if not, the server is disconnected from the server, if so, the client continues to keep a connection state with the server, and meanwhile, the client sends an initialization message to the server, and the fourth step is entered;
step three: the server side initializes the verification program and then enters the fourth step;
step four: the server side verifies the received initialization message through the verification program, if the initialization message passes the verification, the server side sends an initialization message verification passing message to the client side, and if the initialization message does not pass the verification, the server side returns to the third step;
step five: after the client receives the initialization message verification passing message, starting a motion mode: firstly, a mobile robot controls simulation to control the motion speed of the simulation of a mobile robot body, the mobile robot dynamically simulates to execute motion simulation, and finally, simulation data is acquired through sensor simulation and is sent to an intelligent control algorithm, and a scene environment modeling sends environment information data to the intelligent control algorithm;
step six: after the server receives the environmental information data and the sensor data, an intelligent control algorithm utilizes the received data to build a map and avoid obstacles to obtain the advancing and steering data of the mobile robot, and simultaneously sends the advancing and steering data to the client;
step seven: the client controls simulation to control the simulation motion of the mobile robot body in real time by using the received advancing and steering data of the mobile robot, judges whether to send a movement stop command to the server end in real time, and closes the connection and terminates the simulation if the client judges to send the stop command to the server end;
step eight: when the server receives the stop command, the server closes the connection with the client and terminates the server program.
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