Development of Path Generation and Following Simulator for a Simulation Test of a Moving Object

이동체 모의시험을 위한 경로 생성 및 추종 시뮬레이터 개발

Abstract

This research suggests the development of simulator for a Simulation Test of a moving object's path generation and following. There are many kinds of moving objects in weapon systems, such as vehicles, missiles, robots and so on. So need tests of moving simulations during development process of weapon systems. To simulate a moving object, need an flexible path. So this report suggests a $B\acute{e}zier$ curve algorithm for generation of smooth curve path. And when new developments of weapon systems are started, many kinds of simulators are created. But, these simulators are not reused in other project because there are different kinds of development environment. So need to allow users to add specific features, And this report suggests using Dynamic Link Library(DLL).

Fig. 1. Example of Bézier curve

Fig. 2. Example of degree 3 Bézier curve

Fig. 3. Creation of end point and control points

Fig. 4. Adjustment of control points

Fig. 5. Function of SimulateObjectMoving()

Fig. 6. Load simulation DLL

Fig. 7. Function of RecvSimInform());

Fig. 8. Send data to DLL

Fig. 9. GUI of simulator

Fig. 10. Designation of item position

Fig. 11. Creation of a straight path

Fig. 12. Adjustment of control points

Fig. 13. Magnification of the path

Fig. 14. Load FilghtSim.dll

Fig. 15. Load data DLL files

Fig. 16. Completion of the path

Fig. 17. TCP server

Fig. 18. UDP server

Fig. 19. Saved CSV file

Table 1. Result of path following