Embedded semi-physical simulation system of bomb-disposal robot

Abstract:

For the operating needs of bomb-disposal robot, a set of semi-physical simulation system, which consists of a embedded control system and a 3D simulation system, is developed to simulate the typical operation tasks, such as hazardous materials detection, explosives handling, et al. Firstly, the embedded control system is developed based on a single-chip microcomputer, the actual trajectory planning and control algorithm is used, and the control instructions according to the true timing is generated. Secondly, using VC and OSG (Open Scene Graph) software, the 3D simulation system is programmed, which is composed of dynamic, geometry, binocular camera, sensor models, et al, and it can be run on a PC computer. Finally, by integrating the embedded control system and the 3D simulation system, the closed-loop control simulation of typical tasks is completed. The simulation results show the effectiveness of the system.