Development of the complex modelling system for intelligent control algorithms testing
Авторы: Kostylev D., Tolstikhin A., Ul'yanov S.
Журнал: IEEE: Proc. 42nd Intern. Convention on Information and Communication Technology, Electronics and Microelectronics (MIPRO)
Отчётный год: 2019
Аннотация: Testing is an essential stage of software and algorithms development, especially in the field of the cooperative control of multi-robot systems, where even one mistake could lead to the whole mission failure. Software-only simulation systems are unable to consider all real-world factors like sensors and motors inaccuracy. We have developed a complex modelling system for the purposes of studying the complex robot behaviour determined by intelligent algorithms. This paper presents basic approaches to general architecture of multi-robot systems, scenarios (missions) formalisation, communication between agents and robot navigation on the scene. The modelling complex is a client-server application, where the server-side allows controlling missions, monitoring and varying parameters of robots and the environment. Also, the application provides the capability for messaging between all participants of a mission, and identifying robots on the scene for navigation and testing purposes. The proposed system makes the development process easier and supports the process of creating reliable control algorithms for multi-robot systems.
Индексируется WOS: 1
Индексируется Scopus: 1
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