A Study of Parallel Simulation and Test of Unmanned Ground Vehicle for Indoor Mapping

摘要

This study introduces an alternative approach for analyzing performance and monitoring of unmanned ground vehicle (UGV) through a parallel simulation and test. This approach is started by defined a mathematical model of kinematic-dynamic forces that applied and sensor-actuator model that integrated in UGV for simulation. Hardware control architecture and simulation modeling was built using MATLAB/simulink toolboxes. To verify the system, 2 small fields were built for the real test. Moreover 3D virtual model of UGV and environment test field was developed to ease the system monitoring. Finally from tracking and mapping system results show that the parameter values between real performance and simulation model can be easily evaluated, from there then researcher can explore more variation of modeling aspect, parameter and sensor-actuator configuration to enhance performance of their indoor unmanned vehicle.