80 lines
6.4 KiB
TeX
80 lines
6.4 KiB
TeX
\acswitchoff
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\babel@toc {ngerman}{}\relax
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\contentsline {chapter}{\numberline {1}Einleitung}{1}{chapter.1}%
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\contentsline {section}{\numberline {1.1}Motivation}{1}{section.1.1}%
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\contentsline {section}{\numberline {1.2}Stand der Wissenschaft}{1}{section.1.2}%
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\contentsline {section}{\numberline {1.3}Welche Szenarien}{2}{section.1.3}%
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\contentsline {section}{\numberline {1.4}Welcher Nutzen / Contributions}{2}{section.1.4}%
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\contentsline {chapter}{\numberline {2}Konzept}{4}{chapter.2}%
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\contentsline {section}{\numberline {2.1}Simulation des Roboters}{4}{section.2.1}%
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\contentsline {section}{\numberline {2.2}Simulation des Menschen}{5}{section.2.2}%
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\contentsline {section}{\numberline {2.3}Behavior Trees als Beschreibungssprache}{5}{section.2.3}%
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\contentsline {section}{\numberline {2.4}Virtualisierungsumgebung als Platform}{6}{section.2.4}%
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\contentsline {chapter}{\numberline {3}Komponenten-/Softwareauswahl}{7}{chapter.3}%
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\contentsline {section}{\numberline {3.1}Dienstumgebung (ROS2)}{7}{section.3.1}%
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\contentsline {subsection}{\numberline {3.1.1}Auswahl}{7}{subsection.3.1.1}%
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\contentsline {subsection}{\numberline {3.1.2}Beschreibung}{8}{subsection.3.1.2}%
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\contentsline {section}{\numberline {3.2}Simulationsumgebung (Gazebo)}{9}{section.3.2}%
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\contentsline {subsection}{\numberline {3.2.1}Auswahl}{9}{subsection.3.2.1}%
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\contentsline {subsection}{\numberline {3.2.2}Robotersimulation}{10}{subsection.3.2.2}%
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\contentsline {subsection}{\numberline {3.2.3}Menschensimulation}{11}{subsection.3.2.3}%
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\contentsline {section}{\numberline {3.3}Roboterumgebung (MoveIt2)}{12}{section.3.3}%
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\contentsline {section}{\numberline {3.4}Behavior Trees}{13}{section.3.4}%
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\contentsline {subsection}{\numberline {3.4.1}Asynchrone Nodes}{14}{subsection.3.4.1}%
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\contentsline {section}{\numberline {3.5}Docker-Compose als Virtualisierungsumgebung}{15}{section.3.5}%
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\contentsline {chapter}{\numberline {4}Umsetzung}{16}{chapter.4}%
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\contentsline {section}{\numberline {4.1}Grundlegender Systemaufbau}{16}{section.4.1}%
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\contentsline {section}{\numberline {4.2}Verwendete Datentypen}{16}{section.4.2}%
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\contentsline {section}{\numberline {4.3}Mensch}{18}{section.4.3}%
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\contentsline {subsection}{\numberline {4.3.1}Übersicht}{18}{subsection.4.3.1}%
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\contentsline {subsection}{\numberline {4.3.2}Modellierung}{18}{subsection.4.3.2}%
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\contentsline {subsection}{\numberline {4.3.3}Programmierung}{19}{subsection.4.3.3}%
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\contentsline {subsubsection}{\nonumberline Message Queue}{19}{subsubsection*.3}%
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\contentsline {subsubsection}{\nonumberline Nachrichten}{21}{subsubsection*.5}%
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\contentsline {subsubsection}{\nonumberline ActorServer}{21}{subsubsection*.7}%
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\contentsline {subsubsection}{\nonumberline Gazebo Plugin}{22}{subsubsection*.9}%
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\contentsline {section}{\numberline {4.4}Roboter}{22}{section.4.4}%
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\contentsline {subsection}{\numberline {4.4.1}Übersicht}{22}{subsection.4.4.1}%
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\contentsline {subsection}{\numberline {4.4.2}Modellierung}{22}{subsection.4.4.2}%
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\contentsline {subsection}{\numberline {4.4.3}MoveIt 2 Konfiguration}{23}{subsection.4.4.3}%
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\contentsline {subsection}{\numberline {4.4.4}Details}{24}{subsection.4.4.4}%
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\contentsline {section}{\numberline {4.5}Behavior Trees}{24}{section.4.5}%
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\contentsline {subsubsection}{\nonumberline Allgemein nutzbare Nodes}{24}{subsubsection*.11}%
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\contentsline {subsubsection}{\nonumberline Menschenspezifisch}{25}{subsubsection*.13}%
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\contentsline {subsubsection}{\nonumberline Roboterspezifisch}{26}{subsubsection*.15}%
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\contentsline {section}{\numberline {4.6}Docker-Compose}{26}{section.4.6}%
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\contentsline {chapter}{\numberline {5}Szenarienbasierte Evaluation}{28}{chapter.5}%
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\contentsline {section}{\numberline {5.1}Simulation des Menschen}{28}{section.5.1}%
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\contentsline {section}{\numberline {5.2}Bewegung des Roboters}{28}{section.5.2}%
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\contentsline {section}{\numberline {5.3}BehaviorTrees}{28}{section.5.3}%
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\contentsline {subsection}{\numberline {5.3.1}Nodes}{28}{subsection.5.3.1}%
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\contentsline {subsection}{\numberline {5.3.2}Kombinieren von Nodes zu einer Request}{28}{subsection.5.3.2}%
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\contentsline {chapter}{\numberline {6}Diskussion}{29}{chapter.6}%
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\contentsline {section}{\numberline {6.1}Lessons Learned bei der Umsetzung}{29}{section.6.1}%
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\contentsline {subsection}{\numberline {6.1.1}Erstellung des Robotermodells}{29}{subsection.6.1.1}%
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\contentsline {subsection}{\numberline {6.1.2}Gazebo}{29}{subsection.6.1.2}%
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\contentsline {subsubsection}{\nonumberline Upgrade auf Ignition}{29}{subsubsection*.17}%
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\contentsline {subsubsection}{\nonumberline Pluginarchitektur}{30}{subsubsection*.19}%
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\contentsline {subsubsection}{\nonumberline Doppelte Messagedienste}{30}{subsubsection*.21}%
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\contentsline {subsubsection}{\nonumberline Fehlende Animationsgrundlagen}{30}{subsubsection*.23}%
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\contentsline {subsection}{\numberline {6.1.3}ROS2}{30}{subsection.6.1.3}%
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\contentsline {subsubsection}{\nonumberline Nachrichten und deren Echtzeitfähigkeit}{30}{subsubsection*.25}%
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\contentsline {subsubsection}{\nonumberline Änderung der Compilertoolchain}{30}{subsubsection*.27}%
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\contentsline {subsection}{\numberline {6.1.4}MoveIt2}{31}{subsection.6.1.4}%
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\contentsline {subsubsection}{\nonumberline Upgrade auf MoveIt2}{31}{subsubsection*.29}%
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\contentsline {subsubsection}{\nonumberline Fehlerhafte Generierung der Roboter}{31}{subsubsection*.31}%
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\contentsline {subsubsection}{\nonumberline Controller}{31}{subsubsection*.33}%
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\contentsline {section}{\numberline {6.2}Lessons Learned bei den Szenarien}{31}{section.6.2}%
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\contentsline {subsection}{\numberline {6.2.1}Debugging}{31}{subsection.6.2.1}%
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\contentsline {chapter}{\numberline {7}Zusammenfassung und Ausblick}{32}{chapter.7}%
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\contentsline {section}{\numberline {7.1}Ergebnisse}{32}{section.7.1}%
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\contentsline {subsection}{\numberline {7.1.1}Graphische Repräsentation der Szenarien}{32}{subsection.7.1.1}%
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\contentsline {subsection}{\numberline {7.1.2}Anpassung der Behavior Trees an Szenarien}{32}{subsection.7.1.2}%
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\contentsline {section}{\numberline {7.2}Diskussion}{32}{section.7.2}%
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\contentsline {section}{\numberline {7.3}Ausblick}{32}{section.7.3}%
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\contentsline {subsection}{\numberline {7.3.1}Umsetzung in anderem Simulator}{32}{subsection.7.3.1}%
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\contentsline {subsection}{\numberline {7.3.2}Simulation bewegter Objekte}{32}{subsection.7.3.2}%
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\contentsline {subsection}{\numberline {7.3.3}Ergänzung von Umgebungserkennung}{33}{subsection.7.3.3}%
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\contentsline {subsection}{\numberline {7.3.4}Zusammenbringen von ActorPlugin und ActorServer}{33}{subsection.7.3.4}%
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\providecommand \tocbasic@end@toc@file {}\tocbasic@end@toc@file
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