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디지털트윈 시뮬레이션의 표준화를 위한 계층형 정보모델 프레임워크
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- Authors
- 김태민, 이승빈, 이찬영, 유원필, 송수환
- Issue Date
- 2025-12
- Citation
- 제어.로봇.시스템학회 논문지, v.31, no.12, pp.1410-1417
- ISSN
- 1976-5622
- Publisher
- 제어·로봇·시스템학회
- Language
- Korean
- Type
- Journal Article
- Abstract
- Digital twin technology enables high-fidelity virtual replicas of physical robots and environments for simulation and analysis. We propose a layered information model, Control, Robot, and World, to standardize digital twin development for wheeled mobile robots. The model specifies interoperable artifacts (YAML, URDF, USD, SDF) and supports an automated simulation setup in both Isaac Sim and Gazebo. Integrated with ROS 2 and the Nav2 stack, it provides consistent interfaces for control, localization, and path planning. Experiments in a digital twin testbed show stable autonomous navigation in both simulators, demonstrating that the proposed model enables reproducible and consistent operation across heterogeneous platforms.
- KSP Keywords
- Automated simulation, Digital Twin, High fidelity, Information model, Proposed model, Wheeled mobile robots, autonomous navigation, heterogeneous platforms, path planning, simulation analysis