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A New Simulation Framework for Autonomy in Robotic Missions

机译:机器人任务自主性的新仿真框架

摘要

Autonomy is a key factor in remote robotic exploration and there is significant activity addressing the application of autonomy to remote robots. It has become increasingly important to have simulation tools available to test the autonomy algorithms. While indus1;rial robotics benefits from a variety of high quality simulation tools, researchers developing autonomous software are still dependent primarily on block-world simulations. The Mission Simulation Facility I(MSF) project addresses this shortcoming with a simulation toolkit that will enable developers of autonomous control systems to test their system s performance against a set of integrated, standardized simulations of NASA mission scenarios. MSF provides a distributed architecture that connects the autonomous system to a set of simulated components replacing the robot hardware and its environment.
机译:自主性是远程机器人探索的关键因素,并且有大量活动致力于解决将自主性应用于远程机器人的问题。提供可用于测试自治算法的仿真工具变得越来越重要。虽然工业机器人技术得益于各种高质量的仿真工具,但开发自主软件的研究人员仍主要依赖于块世界仿真。任务仿真设施I(MSF)项目通过仿真工具包解决了该缺陷,该工具包使自主控制系统的开发人员可以根据一组完整的标准化NASA任务场景模拟来测试其系统性能。 MSF提供了一种分布式体系结构,该体系结构将自治系统连接到一组模拟组件,从而代替了机器人硬件及其环境。

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