论文标题
移动交付机器人：依赖ROS和Unity 3D的基于现实的模拟混合模拟
Mobile Delivery Robots: Mixed Reality-Based Simulation Relying on ROS and Unity 3D
论文作者
论文摘要
在智能运输系统和交付商品的背景下，需要开发新的技术方法，以应对最后一英里交付需要的某些挑战，例如在城市环境中导航。自主交付机器人可以帮助克服这些挑战。我们提出了一种使用Unity与基于ROS的机器人进行混合现实（MR）模拟的方法，该方法可以同步真实和虚拟环境，同时使用真实机器人的传感器信息将自己定位并投射到虚拟环境中，以便他们可以使用虚拟的Doppelganger来感知虚拟世界。使用此方法，真实和虚拟机器人可以相互感知和对方所在的环境，从而使虚拟对象和真实对象之间的信息交换。通过这种方法，可以获得更现实，更可靠的模拟。证明的用例的结果验证了使用Unity对基于ROS的机器人实施MR的可行性和效率以及稳定性。
In the context of Intelligent Transportation Systems and the delivery of goods, new technology approaches need to be developed in order to cope with certain challenges that last mile delivery entails, such as navigation in an urban environment. Autonomous delivery robots can help overcome these challenges. We propose a method for performing mixed reality (MR) simulation with ROS-based robots using Unity, which synchronizes the real and virtual environment, and simultaneously uses the sensor information of the real robots to locate themselves and project them into the virtual environment, so that they can use their virtual doppelganger to perceive the virtual world. Using this method, real and virtual robots can perceive each other and the environment in which the other party is located, thereby enabling the exchange of information between virtual and real objects. Through this approach a more realistic and reliable simulation can be obtained. Results of the demonstrated use-cases verified the feasibility and efficiency as well as the stability of implementing MR using Unity for ROS-based robots.
