【摘要】 新冠疫情之下，迷宫机器人线下竞赛受到严重影响，开发适用于线上竞赛需求的迷宫机器人虚拟竞赛系统尤为必要。针对Ubuntu环境下的迷宫机器人虚拟竞赛系统实现方法展开研究。利用URDF模型文件建立了迷宫机器人模型，设计了迷宫机器人的主体部件并根据迷宫机器人功能需求设置了各部件通信属性。利用WORLD标签文件实现了迷宫地图，完成了标准迷宫图形符号文件的设计及其Gazebo加载。通过LAUNCH启动文件完成了迷宫机器人和迷宫地图的启动封装。研究了利用Python语言实现迷宫机器人的运动控制和迷宫任务的方法，包括各通信话题消息的发布和订阅、迷宫机器人的直行和转弯控制、迷宫信息检测和存储、路径搜索方法和冲刺算法等。最后通过RVIZ和迷宫机器人仿真评测系统进行迷宫机器人虚拟竞赛系统的仿真，结果表明迷宫机器人能够很好的完成不同难度的迷宫任务，证明了提出的迷宫机器人虚拟竞赛系统实现方法的可行性，研究成果与当前成熟的互联网技术相结合可作为迷宫机器人线上竞赛一种很好的解决方案。更多还原

【Abstract】 Under the COVID-19 pandemic, the offline competition of maze robots has been seriously affected, and it is particularly necessary to develop a virtual competition system for maze robots suitable for online competition needs. In this paper, the realization method of virtual competition system of maze robot under Ubuntu environment is studied. The model of the maze robot is established by using URDF model file, the main parts of the maze robot are designed, and the communication properties of each part are set according to the functional requirements of the maze robot. The maze map is realized by using the WORLD tag file, and the design of the standard maze graphic symbol file and its Gazebo loading are completed. The LAUNCH package of the maze robot and maze map was completed through the launch file. In this paper, Python language is used to realize the motion control and maze task of the maze robot, including the issue and subscription of each communication topic message, the straight and turn control of the maze robot, the maze information detection and storage, the path search method and the sprint algorithm. Finally, the simulation experiment of the virtual competition system of the maze robot is carried out through RVIZ and the simulation and evaluation system of the maze robot. The results show that the maze robot can complete the maze tasks of different difficulties very well, which proves the feasibility of the implementation method of the virtual competition system of the maze robot proposed in this paper. The research results combined with the current mature Internet technology can be used as a good solution for maze robot online competition.更多还原