Um Ambiente para Simulação e Testes de Comunicação entre Multi-Robôs através de Cossimulação
Multi-Robot System (MRS) consisting of multiple interacting robots, each running a specific control strategy, which is not driven centrally. Technical challenges arise from the need to develop complex, software-intensive products that take the constraints of the physical world into account. Make too...
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| Format: | master thesis |
| Status: | Published version |
| Publication Date: | 2016 |
| Country: | Brasil |
| Institution: | Universidade Federal da Paraíba (UFPB) |
| Repository: | Biblioteca Digital de Teses e Dissertações da UFPB |
| Language: | Portuguese |
| OAI Identifier: | oai:repositorio.ufpb.br:tede/9286 |
| Online Access: | https://repositorio.ufpb.br/jspui/handle/tede/9286 |
| Access Level: | Open access |
| Keyword: | Sistemas Multi-Robô Cossimulação OMNeT++ High Level Architecture Multi-Robot Systems Co-simulation, OMNeT++ CIENCIAS EXATAS E DA TERRA::CIENCIA DA COMPUTACAO |
| Summary: | Multi-Robot System (MRS) consisting of multiple interacting robots, each running a specific control strategy, which is not driven centrally. Technical challenges arise from the need to develop complex, software-intensive products that take the constraints of the physical world into account. Make tools, methodologies and teams from different fields can work together is not an easy task to accomplish. Co-simulation represents on technique of validation in heterogeneous systems. Its fundamental principle is to provide support to execute different simulators in a cooperative way. A known standard is the High Level Architecture (HLA) that is a pattern described in IEEE 1516 series and has been developed to provide a common architecture to distributed model and simulation. Using HLA, several simulators and real applications could be simulated together. That way, this work presents a project for Multi-Robot Systems (SMR) simulation using ROS co-simulation with a network simulator, the OMNeT++, using HLA. The main goal is make the simulations more realistic, where the data exchange will be performed by using a simulated network, as if we had real robots interacting through a conventional network. To this end, an interface was developed between ROS and OMNeT++ using HLA. Experiments demonstrate that the packet losses were correctly simulated, adding realism to simulations. |
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