期刊名称：Journal of Automation, Mobile Robotics & Intelligent Systems (JAMRIS)
印刷版ISSN：1897-8649
电子版ISSN：2080-2145
出版年度：2012
卷号：6
期号：2
页码：03
出版社：Industrial Research Inst. for Automation and Measurements, Warsaw
摘要：The paper concerns the research related to the improve- ment of control and supervision of web connected mo- bile robots using Physic Processing Unit (PPU). PPU computations taken into the consideration include rigid body dynamics, collision detection and raycasting. The result is improved by Human Machine Interface that al- lows performing semantic simulation during multi robot task execution. Semantic simulation engine provides tools to implement the mobile robot simulation, which is based on real data delivered by robot's observations in INDOOR environment. The supervision of real objects such as robots is performed by association with its vir- tual representation in the simulation, therefore events such as object intersection, robot orientation - pitch and roll are able to be monitored. The simulation can be inte- grated with real part of the system with an assumption of robust localization of real entities, therefore Augmented Reality capabilities are available.
关键词：semantic mapping; Human Machine Inter- ; face; mobile robot
