基于人在回路的地面无人平台仿真系统设计

doi:10.12305/j.issn.1001-506X.2022.02.23

系统工程与电子技术 ›› 2022, Vol. 44 ›› Issue (2): 538-545.doi: 10.12305/j.issn.1001-506X.2022.02.23

基于人在回路的地面无人平台仿真系统设计

张浩杰^1,^2,*, 梁荣敏¹, 张玉东¹

1. 北京科技大学自动化学院工业过程知识自动化教育部重点实验室, 北京 100083
2. 北京科技大学顺德研究生院, 广东佛山 518054

收稿日期:2021-02-02 出版日期:2022-02-18 发布日期:2022-02-24
通讯作者: 张浩杰
作者简介:张浩杰(1986—), 男, 副教授, 博士, 主要研究方向为无人车及机器人的决策规划|梁荣敏(1997—), 男, 硕士研究生, 主要研究方向为地面无人平台路径规划|张玉东(1997—), 男, 硕士研究生, 主要研究方向为地面无人平台能耗最优规划
基金资助:
国家自然科学基金青年科学基金(61806183)

Design of simulation system for UGVs based on human-in-the-loop

Haojie ZHANG^1,^2,*, Rongmin LIANG¹, Yudong ZHANG¹

1. Key Laboratory of Knowledge Automation for Industrial Processes of Ministry of Education, School of Automation and Electrical Engineering, University of Science and Technology Beijing, Beijing 100083, China
2. Shunde Graduate School, University of Science and Technology Beijing, Foshan 518054, China

Received:2021-02-02 Online:2022-02-18 Published:2022-02-24
Contact: Haojie ZHANG

摘要/Abstract

摘要：

地面无人平台(unmanned ground vehicle, UGV)已成为各国军事装备自动化和智能化的发展方向, 针对UGV仿真系统存在人类智能融合度低、功能不完善和不便于进行算法测试等问题, 通过引入人在回路的输入模型, 设计了一种具有更强智能性的UGV仿真系统。该仿真系统以机器人操作系统(robot operating system, ROS)架构为基础进行设计, 主要由基于人在回路的人机交互界面和仿真场景构成。为了验证该仿真系统的有效性, 搭建了集成测试环境, 对UGV三角协同编队和操控员调配UGV纵向编队进行测试。实验结果表明, 该仿真系统集成度高、运行稳定可靠。

关键词: 地面无人平台, 人在回路, 仿真系统, 人机交互, 机器人操作系统

Abstract:

Unmanned ground vehicle (UGV) has become the development direction of the automation and intelligence of military equipment in various countries. A simulation system based on human-in-the-loop for UGVs is proposed, which aims at solving the low integration of human intelligence, imperfect functions and difficulty in integration testing in the existing simulation systems. The proposed simulation system consists of a human-machine interaction interface based on the human-in-the-loop and a simulation scene based on CoppeliaSim, which is also compatible with the robot operating system (ROS). The intelligence of the system is enhanced by introducing the input model of the human-in-the-loop. In order to verify the effectiveness of the simulation system, an integrated environment is built to test the triangular formation of the UGVs. The experimental results show that the system is stable and reliable with high integration.

Key words: unmanned ground vehicle (UGV), human-in-the-loop, simulation system, human-machine interaction, robot operating system (ROS)

中图分类号:

N945

张浩杰, 梁荣敏, 张玉东. 基于人在回路的地面无人平台仿真系统设计[J]. 系统工程与电子技术, 2022, 44(2): 538-545.

Haojie ZHANG, Rongmin LIANG, Yudong ZHANG. Design of simulation system for UGVs based on human-in-the-loop[J]. Systems Engineering and Electronics, 2022, 44(2): 538-545.

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基于人在回路的地面无人平台仿真系统设计

Design of simulation system for UGVs based on human-in-the-loop

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