CyberEarth: a Virtual Simulation Platform for Robotics and Cyber-Physical Systems

2019 IEEE International Conference on Robotics and Biomimetics (ROBIO) Pub Date : 2019-12-01 DOI:10.1109/ROBIO49542.2019.8961433

Xiaoyang Zhang, Hongpeng Wang, Jingtai Liu, Haifeng Li

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引用次数: 2

Abstract

The increasing sophisticated robot and intelligent system applications require universal visualization platforms which can guarantee the security and efficiency of task process execution in the situation of user-programming and using different kinds of automated equipment. In this paper, we present a universal visualization framework to build up program-driven simulation software of complex robots and intelligent systems by integrating several open-source technical modules, including Ubuntu Linux operation-system, QT Creator IDE environment, ROS robot operation system, OSG(OpenSceneGraph) 3D scene, osgEarth GIS(Geographic Information System)-based 3D scene, and also Python based user-programing robotic script language. Many complex visualization simulation systems of complex tasks in wide area and dynamic scenarios are realized by using this framework. Based on this framework, we built a virtual simulation platform CyberEarth for robotics and Cyber-Physical systems. The typical robotic simulation task, which is a visual coverage task for Multi-Agent/UAV, is also introduced to demonstration the universality of this platform.

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赛博地球:机器人与信息物理系统的虚拟仿真平台

越来越复杂的机器人和智能系统应用需要通用的可视化平台，以保证在用户编程和使用各种自动化设备的情况下任务过程执行的安全性和高效性。本文通过集成Ubuntu Linux操作系统、QT Creator IDE环境、ROS机器人操作系统、OSG(OpenSceneGraph)三维场景、osgEarth(地理信息系统)三维场景以及基于Python的用户编程机器人脚本语言等开源技术模块，提出了一个通用的可视化框架，用于构建复杂机器人和智能系统的程序驱动仿真软件。利用该框架实现了许多具有广域复杂任务和动态场景的复杂可视化仿真系统。在此基础上，构建了机器人与信息物理系统的虚拟仿真平台CyberEarth。以多智能体/无人机的视觉覆盖任务为例，说明了该平台的通用性。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

2019 IEEE International Conference on Robotics and Biomimetics (ROBIO)

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