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)