bug算法避障matlab,机器人Bug避障算法的Matlab半实物仿真软件设计

A Matlab-Based Software For Bug Algorithm Hardware-In-The-Loop Simulation And Testing

HUANG Peikui

1

黄培奎(1990-)，男，主要研究方向：导航避障，半实物仿真

ZHAO Zuoxi

2

赵祚喜(1968-)，男，教授，主要研究方向：农业导航，嵌入式，自动控制系统

WU Zhiwei

3

1、South China Agricultural University, Guangzhou 510642, China

2、South China Agricultural University, GuangZhou 510642, China

3、South China Agricultural University, GuangZhou510642, China

Abstract：The implementation of path planning behavior with a physical robot is normally difficult and time consuming. A Hardware-in-the-loop (HIL) simulation software based on Matlab is presented to develop and verify variants of BUG algorithm. This software divides the navigational movement control into three cascading units, i.e. environment mapping unit, path planning unit, and actuator unit. Matlab is responsible for path planning, the first and the third units each can be implemented either by software simulation or physical hardware, and by selecting between environment map and physical sensors, and between simulation actuator and physical robot, the modes of simulation, including different levels of HIL simulations can be realized. In this paper, we use self-definition blocks in Simulink to implement the path planning unit simulating two BUG algorithms. As demonstrated by both pure simulation and HIL simulation, the software presented makes a versatile and convenient tool for BUG algorithm development and verification, and is expected to work well with other sensor-based path planning algorithms with proper modification.