扩展Angler框架，实现水下多机器人仿真与协同路径规划
Underwater Multi-Robot Simulation and Motion Planning in Angler
- 模块化设计构建多机器人通信通道，支持同步仿真
- 集成OMPL与碰撞规避模块，实现在动态环境中的路径规划
- 适合水下机器人研发与算法测试人员使用
在水下部署多机器人系统成本高且耗时长，通过仿真测试算法和软件可解耦软硬件开发。但需高度贴近真实环境的仿真框架。Angler是开源框架，模拟自动驾驶仪（如ArduSub）的底层通信协议，接近现实，但不支持多机器人。本文提出扩展方案，支持多机器人仿真与运动规划。新架构通过Gazebo、ArduSub SITL与MAVROS间建立无冲突通信通道，实现多机器人同环境运行。运动规划模块基于ROS2的JointTrajectory控制器对接级联控制器，并集成开放运动规划库（OMPL）、碰撞规避模块及程序化环境生成工具。该工作支持在动态环境中开发与评测水下多机器人运动规划算法。
原文摘要 · Abstract (English)
Deploying multi-robot systems in underwater environments is expensive and lengthy; testing algorithms and software in simulation improves development by decoupling software and hardware. However, this requires a simulation framework that closely resembles the real-world. Angler is an open-source framework that simulates low-level communication protocols for an onboard autopilot, such as ArduSub, providing a framework that is close to reality, but unfortunately lacking support for simulating multiple robots. We present an extension to Angler that supports multi-robot simulation and motion planning. Our extension has a modular architecture that creates non-conflicting communication channels between Gazebo, ArduSub Software-in-the-Loop (SITL), and MAVROS to operate multiple robots simultaneously in the same environment. Our multi-robot motion planning module interfaces with cascaded controllers via a JointTrajectory controller in ROS~2. We also provide an integration with the Open Motion Planning Library (OMPL), a collision avoidance module, and tools for procedural environment generation. Our work enables the development and benchmarking of underwater multi-robot motion planning in dynamic environments.
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