某军用地面移动机器人视景仿真系统的研究

结合视景仿真技术和动力学仿真分析，提出了由视景驱动、交互、主控模块和动力学仿真调度组成的仿真系统结构；利用Pro／Engineer和MuhiGen Creator建立了机器人和地形场景模型，分析了数据的组织结构和模型的简化处理；基于Vega实现该地面移动机器人的视景仿真系统，提出了针对此机器人模型特点的地形匹配方法。仿真结果表明，该视景系统能够逼真地表现出地面移动机器人的仿真过程，并满足系统仿真的实时性要求。

Research on Visual Simulation System of the Military Ground Mobile Robot

Combining visual simulation with dynamics simulation technology, the frame of the simulation system is proposed in this paper, which consists of modules of the visual simulation, user interface, kernel control and dynamics simulation. The robot and terrain models are established with Pro/Engineer and MultiGen Creator. The structure of database and the method for simplifying the models are researched. The visual simulation system is implemented with VegaAPI. An algorithm of terrain match is proposed for this ground mobile robot. The simulation results show that the system can realistically demonstrate the simulation process of the robot,and besides, it meets the real time requirement of system simulation.