Robopheus：仮想・実機連携型モバイルロボット実験基盤
Robopheus: A Virtual-Physical Interactive Mobile Robotic Testbed
デジタルツインの考え方で実機と仮想シミュレーションを橋渡しし、相互にモデルを学習・反映できる高忠実度なマルチロボット実験基盤を開発した。実機軌道精度を300%向上させた。
著者: Xuda Ding, Han Wang, Hongbo Li, Hao Jiang, Jianping He
分類: cs.RO, cs.SY, eess.SY
原文アブストラクト
The mobile robotic testbed is an essential and critical support to verify the effectiveness of mobile robotics research. This paper introduces a novel multi-robot testbed, named Robopheus, which exploits the ideas of virtual-physical modeling in digital-twin. Unlike most existing testbeds, the developed Robopheus constructs a bridge that connects the traditional physical hardware and virtual simulation testbeds, providing scalable, interactive, and high-fidelity simulations-tests on both sides. Another salient feature of the Robopheus is that it enables a new form to learn the actual models from the physical environment dynamically and is compatible with heterogeneous robot chassis and controllers. In turn, the virtual world's learned models are further leveraged to approximate the robot dynamics online on the physical side. Extensive experiments demonstrate the extraordinary performance of the Robopheus. Significantly, the physical-virtual interaction design increases the trajectory accuracy of a real robot by 300%, compared with that of not using the interaction.
