Abstract

A distributed simulation system was developed in this paper to enhance the robot system integration and development for guide robot via using RTM (Robot Technology Middleware) technology, which is an open software platform for robot systems. The RT (robot technology) system of an adapter, a controller and the robot, together with other CORBA objects was developed to connect the graphical programming interface with the 3D simulator to set up a network based simulation system. Simultaneously, the application of the distributed simulation system also confirms the controlling of the real robot utilizing the RT system. RT-Middleware can obviously accelerate the software component development and the system integration, which of course will lower the cost of the development of new robot application systems.

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