An Interactive Three-Dimensional Motion Simulation Method for Indoor Multi-Agent
Junqing Yang, Tong Xiao, Songyi Zhang, Shitao Chen, Nanning Zheng · 2021 China Automation Congress (CAC) · 2021
It is necessary to verify and test the algorithms of autonomous mobile agents to improve the performance of these algorithms which is used for the large-scale application. However, most of multi-agent algorithms are based on simplified agent assumptions and verified in two-dimensional scenes. The unrealistic simplificati on makes it difficult for the algorithms to be executed effectively on physical agents. Therefore, this paper studies an interactive 3D motion simulation method based on real indoor application scenes and robot models, which can support the verification of various algorithms such as planning and motion control. The proposed method also has interactive and visualization functions including the setting of model state and the display of algorithm execution results on the graphical interface. Simulation experiments are carried out to verify various algorithms in different scenes. The results show that the proposed method can effectively simulate the motion and the interaction of multi-agents in the real physical world.