基于异步机制的Gazebo仿真优化研究

doi:10.11896/jsjkx.200300131

摘要/Abstract

摘要： 在大规模机器人仿真过程中,为了保证仿真精度,通常采用基于时间步的推进机制。这种机制下,虽然可以通过调整仿真时间步灵活控制仿真精度,但当仿真规模较大时,在仿真循环的每次迭代中需要采用同步阻塞的方式,执行大量用于更新位姿或状态的插件代码,从而导致仿真性能降低。针对这一大规模机器人仿真所面临的精度与性能之间的矛盾,提出了一种基于异步策略的优化方案,并在流行的机器人仿真器Gazebo中对优化方案进行了设计实现,最后基于rosflight固定翼无人机案例,验证了方案的有效性。实验结果表明,对于100架固定翼无人机的仿真,采用异步策略优化重构后,仿真加速比达到了5.0以上。

关键词: Gazebo, ROS, 大规模, 高精度, 实时仿真, 异步策略, 优化重构

Abstract: In the process of large-scale robot simulation,in order to ensure the accuracy of simulation,the propulsion mechanism based on time step is usually adopted.In this mechanism,the simulation accuracy can be flexibly controlled by adjusting the simulation time step.However,when the simulation scale is large,a large number of plug-in codes for updating posture or state need to be executed in the way of synchronous blocking in each iteration of the simulation cycle,which reduces the performance of the simulation.In order to solve the contradiction between the accuracy and performance of this large-scale robot simulation,an optimization scheme based on asynchronous strategy is proposed,and the optimization scheme is designed and implemented in the popular robot simulator Gazebo.Finally,the validity of the scheme is verified based on the case of the fixed wing of rosflight UAV.The experimental results show that the acceleration ratio of the simulation is over 5.0 after the asynchronous strategy is used to optimize the simulation of 100 fixed wing UAVs.

Key words: Asynchronous strategy, Gazebo, High-precision, Large-scale, Optimal reconstruction, Real time simulation, ROS

中图分类号:

TP391.9

曾蕾, 李豪, 林宇斐, 张帅. 基于异步机制的Gazebo仿真优化研究[J]. 计算机科学, 2020, 47(11A): 593-598. https://doi.org/10.11896/jsjkx.200300131

ZENG Lei, LI Hao, LIN Yu-fei, ZHANG Shuai. Study on Simulation Optimization of Gazebo Based on Asynchronous Mechanism[J]. Computer Science, 2020, 47(11A): 593-598. https://doi.org/10.11896/jsjkx.200300131

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