Abstract: Swarm-robot simulation system is a digital system that is used for the demonstration of the control architecture,cooperative control,learning algorithm of swarm-robot system.This paper discusses the physical feature of each real part and the implement difficulties,presents the software architecture and the object model,and describes the implementation of each function.Result shows that it has good performance,also it works well in distributed simulation environment and has good interface to interact with the users.It offers an effective platform for the swarm-robot system research.

摘要： 群机器人仿真系统是一个能够对群机器人系统的体系结构、协调控制和学习算法等进行实验的数字仿真系统。分析了各仿真对象的物理特性及其实现难点,给出了仿真系统的软件架构和对象建模,描述了各仿真功能的具体实现。利用本仿真系统进行的实验结果表明此系统达到了比较理想的效果,具有良好的分布式运行能力和方便的实时交互能力,为群机器人系统的研究提供了一个有效的平台。