地面机器人数据驱动识别方法及仿真建模

2021 IEEE 8th International Workshop on Metrology for AeroSpace (MetroAeroSpace) Pub Date : 2021-06-23 DOI:10.1109/MetroAeroSpace51421.2021.9511747

E. I. Trombetta, Iris David Du Mutel de Pierrepont Frauzetti, D. Carminati, M. Scanavino, E. Capello

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引用次数: 1

摘要

自主移动机器人依靠环境特征进行操作。在一个代理彼此自主操作，并且只使用它们的车载传感器和计算能力的框架中，必须建立一个精确的模拟环境。通过生成机器人代理本身的良好模型来提高准确性。本文利用数据驱动识别方法设计了一个用于数值模拟的黑箱模型。仿真场景采用MATLAB/Simulink-ROS-Unity3D混合环境，便于与车载真实硬件连接。

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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Data-Driven Identification Method and Simulation Modeling of a Ground Robot

Autonomous mobile robots rely on the environment features to operate. In a framework in which agents operate autonomously from each other and only use their on-board sensors and computing power, an accurate simulation environment has to be set up. Accuracy is increased by producing a good model of the robot agent itself. In this paper, a data-driven identification method is exploited to design a black-box model for numerical simulations. A MATLAB/Simulink-ROS-Unity3D hybrid environment is considered as simulation scenario, to be easily connected to the on-board real hardware.

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2021 IEEE 8th International Workshop on Metrology for AeroSpace (MetroAeroSpace)

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