Development of multicopter simulation function and traffic control simulation function for Choreonoid

Suzuki, Kenta ; Horiuchi, Kazunori*; Kawabata, Kuniaki   

This paper describes development of multicopter simulation function and traffic simulation function for assuming emergency response at natural disaster and accident occurred in the facilities such as power station. In the multicopter simulation function, its calculate the buoyancy, stress, friction and so on, and reflect them to simulation. The traffic control simulation function simulates a communication failure between the remotely operated robots and the operation device of that robot. We developed a multicopper simulation function and traffic control simulation function as Choreonoid's plug-in. The overview and design of those simulation functions are reported.