共有制御検証のための移動車両マニピュレータシミュレータの開発
Development of a Mobile Vehicle Manipulator Simulator for the Validation of Shared Control Concepts
大型車両マニピュレータの協調制御を検証するため、MATLAB/SimulinkからC++ ROSノードを生成し、GUI・ステアリング・ジョイスティックを備えたリアルタイムシミュレータを開発した。
著者: Balint Varga, Selina Meier, Soeren Hohmann
分類: cs.RO, cs.SY, eess.SY
原文アブストラクト
This paper presents the development of a real-time simulator for the validation of controlling a large vehicle manipulator. The need for this development can be justified by the lack of such a simulator: There are neither open source projects nor commercial products, which would be suitable for testing cooperative control concepts. First, we present the nonlinear simulation model of the vehicle and the manipulator. For the modeling MATLAB/Simulink is used, which also enables a code generation into standalone C++ ROS-Nodes (Robot Operating System Nodes). The emerging challenges of the code generation are also discussed. Then, the obtained standalone C++ ROS-Nodes integrated in the simulator framework which includes a graphical user interface, a steering wheel and a joystick. This simulator can provide the real-time calculation of the overall system's motion enabling the interaction of human and automation. Furthermore, a qualitative validation of the model is given. Finally, the functionalities of the simulator is demonstrated in tests with a human operators.
