Distributed Intelligent Vehicle Simulation Debugging System

With the development of relative techniques such as sensors, motors, artificial intelligence and so on, the research of robot has increased rapidly and has been applied to many fields, such as manufacturing, service and military affairs. Autonomous Intelligent Vehicle ( AIV ) is one of the major branches of robot field. Military intelligent robot is an autonomous intelligent vehicle, which is a highly integrated system composed of circumstance perceiving module, plan and decision module, automated driving module and otherwise. AIV is a highly intellectualized, multi-module complicated engineering system, which is not equal to the simple adding of every single technique. The whole function of the system is based on every subsystem which cooperates in multilayer.Because of AfV's complexity and timeliness, researching into an AIV system experiences a long period, from modeling to debugging. The whole research will be hard to continue, if there isn't an appropriate debugging tool. In order to solving this problem, we have designed an Intelligent Vehicle Simulation and Debugging System, which is an intelligent vehicle system's soft debugging environment and consists of visualized simulation subsystem and visualized debugging subsystem.This thesis is based on Project "Military Intelligent Robot". The main contributions of this thesis are as follows: Described the research background of autonomous intelligent system, the system'sarchitecture, theory and key technologies. Introduced the technologies of virtual realitysystem, virtual environment, and the combination of VR and simulation which is applied tointelligent robot. At first summarized the Multi-Agent technology. Introduced 4-D/RCS architecture of DemoIII, which is referred by AIV AIV is a self-organized multi-agent system. Thencircumstantiated the theory of ATV's architecture, the agents, the interaction of agents, andthe cooperation of agents. Presented the design goals of AIV simulation and debugging system. Introduced thearchitecture model, theory and realization of agents' interaction; the theory model, makeup,working theory and realization of shared blackboard system; the design and realization ofsimulation subsystem, debugging subsystem and 2D map system. Finally the experimentalresults were presented. Put forward a networked autonomous intelligent robot virtual debugging system. Introducedthe whole architecture, theory and realization of every module. Finally the experimentalresults were presented. Made suggestions on future research.