Multi-disciplinary modeling and collaborative simulation of multi-robot systems based on HLA

The multi-disciplinary modeling and collaborative simulation of multi-robot systems (MRS) based on High Level Architecture (HLA) is presented. The major constitutions of this system - the HLA, the modeler, the simulator and the database - are described in this paper, whose implementation and functions are discussed in detail. This paper also introduces further refinements of this system. According to the data exchange standard STEP in CAx domain, the sharing, reuse, and transformation of simulation model are discussed. The inverse kinematics theory is analyzed to construction the control system of MRS. The object oriented database and its advantage is presented. Through development of simulation software interfaces, HLA federation was developed with the support of object-oriented approach. Finally, the typical applications such as teleoperation and ^{path planning} are introduced.