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首页> 美国政府科技报告 >Real-time Simulations using QuaRC and RT-LAB and Development of a Hardware-in-the-Loop Indoor Facility for Robot Formations.
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Real-time Simulations using QuaRC and RT-LAB and Development of a Hardware-in-the-Loop Indoor Facility for Robot Formations.

机译：使用QuaRC和RT-LaB进行实时仿真，并开发用于机器人编队的硬件在环室内设施。

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This report will present two commercial software environments used to distribute and execute real-time simulations: QuaRC and RT-Lab. Both QuaRC and RT-Lab allow the user to develop simulation models using Matlab/Simulink and include hardware, such as data acquisition boards, to connect to real vehicles and systems. In addition, QuaRC can be used to program embedded systems such as wheeled mobile robots and aerial vehicles. This report will present formation flight models that have been modified in order to be compliant to QuaRC or RT-Lab. The simulations are composed of six to ten unmanned aerial vehicles, or UAVs, following a commanded trajectory while maintaining a prescribed trajectory. Models presented also include abrupt fault detection and formation shape morphing on operator's request. Vehicle models and dynamics are based on almost lighter-than-air (ALTAV) vehicles, unicycles and quadrotor vehicles. Lowlevel controllers used to stabilize these UAVs are feedback linearization controllers. Formation controller is of leader-to- follower type. Simulation results are displayed in real-time on a three- dimensional viewer (X-Plane). The feedback linearization controller has been implemented on an embedded computer on board a wheeled mobile robot (QBot). An infrared camera system (OptiTrack camera setup) is used to measure the QBot's position and orientation. This information is then sent from the base station to the wheeled mobile robot's embedded computer using a wireless link in order to close the lowlevel controller's loop. This report will then present major differences between QuaRC and RT-Lab as well as advantages and inconvenient of using either software solution.

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