Development of an OpenGL based multi-robot simulating platform

Author

Zhang, Zheng ; Ma, Shugen ; Li, Bin ; Zhang, Liping ; Cao, Binggang

Author_Institution

Sch. of Mech. Eng., Xi´´an Jiaotong Univ., China

Volume

2

fYear

2004

fDate

6-9 Dec. 2004

Firstpage

1400

Abstract

Simulating platform plays a crucial role in multi-robot research, as a tool to quickly and efficiently test new concepts, strategies, and algorithms. In this paper, OpenGL and Visual C++ based modeling method has been discussed in detail to establish a platform for the 3D simulating of multi-link mobile robots and their collaboration. The cooperation strategies, the control methods and the communication mechanisms of multi-robot system can be explored and verified by this platform. A planetary robot system is used to verify the validity of the developed platform. The effectiveness and the practicability of the platform are successfully demonstrated by a four-robot motion coordination simulating results.

Keywords

aerospace robotics; cooperative systems; digital simulation; mobile robots; multi-robot systems; OpenGL; Visual C++; cooperation strategies; four-robot motion coordination; multi-link mobile robots; multi-robot simulating platform; planetary robot system; Automatic testing; Collaboration; Communication system control; Control systems; Laboratories; Mobile robots; Planets; Robot kinematics; Robotics and automation; Wheels;

fLanguage

English

Publisher

ieee

Conference_Titel

Control, Automation, Robotics and Vision Conference, 2004. ICARCV 2004 8th

Print_ISBN

0-7803-8653-1

Type

conf

DOI

10.1109/ICARCV.2004.1469052

Filename

1469052