Computer Science

Computer Science ›› 2020, Vol. 47 ›› Issue (11A): 593-598.doi: 10.11896/jsjkx.200300131

• Interdiscipline & Application • Previous Articles     Next Articles

Study on Simulation Optimization of Gazebo Based on Asynchronous Mechanism

ZENG Lei1, LI Hao2, LIN Yu-fei2, ZHANG Shuai2   

  1. 1 Tianjin Artificial Intelligence Innovation Center,Tianjin 300457,China
    2 The Academy of Military Science,Beijing 100000,China
  • Online:2020-11-15 Published:2020-11-17
  • About author:ZENG Lei,born in 1989,master.His main research interests include compu-ter simulation and high performance computing.
    LI Hao,born in 1990,Ph.D,assistant researcher.His main research interests include parallel computing,robotics and computer simulation.

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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

CLC Number: 

  • TP391.9
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