How to Implement Networked Robotics in OMNeT++

To implement the Networked Robotics in OMNeT++, we need to include designing and emulating the network that supports the communication among the robotic nodes that contains the autonomous robots, sensors, and controllers. This is used for applications like coordinated robotics, robotic swarm intelligence, and remote robotic control. The given below are the detailed procedures on how to implement the Networked Robotics in OMNeT++ using the INET framework:

Step-by-Step Implementation:

Install OMNeT++ and INET Framework

Make sure we have OMNeT++ and the INET Framework installed.

Create a New OMNeT++ Project

Open OMNeT++ IDE: Start the OMNeT++ IDE.
Create a New Project: Go to File -> New -> OMNeT++ Project. Name the project such as NetworkedRoboticsSimulation.

Define the Network Topology

Generate a new NED file to describe the network topology that contains numerous robotic nodes and a central controller.

Example: Networked Robotics Topology (NetworkedRobotics.ned)

package networkedrobotics;

import inet.node.inet.StandardHost;

import inet.node.inet.WirelessHost;

import inet.node.inet.Router;

network NetworkedRobotics

{

parameters:

@display(“bgb=800,400”);

submodules:

robot1: WirelessHost {

@display(“p=100,300”);

}

robot2: WirelessHost {

@display(“p=300,300”);

}

robot3: WirelessHost {

@display(“p=500,300”);

}

controller: WirelessHost {

@display(“p=300,100”);

}

gateway: Router {

@display(“p=400,100”);

}

connections allowunconnected:

robot1.wlan[0] <–> AdhocChannel <–> controller.wlan[0];

robot2.wlan[0] <–> AdhocChannel <–> controller.wlan[0];

robot3.wlan[0] <–> AdhocChannel <–> controller.wlan[0];

controller.wlan[0] <–> AdhocChannel <–> gateway.wlan[0];

gateway.ethg++ <–> Eth10M <–> controller.ethg++;

}

Configure the Simulation

Generate an OMNeT++ initialization file to configure the parameters of the simulation.

Example: Configuration File (omnetpp.ini)

network = networkedrobotics.NetworkedRobotics

sim-time-limit = 200s

# Visualization

*.visualizer.canvasVisualizer.displayBackground = true

*.visualizer.canvasVisualizer.displayGrid = true

# Robot Configuration

*.robot*.numApps = 1

*.robot*.app[0].typename = “RobotApp”

*.robot*.app[0].destAddresses = “controller”

*.robot*.app[0].destPort = 5000

*.robot*.app[0].messageLength = 512B

*.robot*.app[0].sendInterval = 1s

# Controller Configuration

*.controller.numApps = 1

*.controller.app[0].typename = “ControllerApp”

*.controller.app[0].localPort = 5000

# Gateway Configuration

*.gateway.numApps = 1

*.gateway.app[0].typename = “GatewayApp”

*.gateway.app[0].localPort = 5000

# UDP Configuration

*.robot*.hasUdp = true

*.controller.hasUdp = true

*.gateway.hasUdp = true

# Wireless Configuration

*.robot*.wlan[0].typename = “AdhocHost”

*.controller.wlan[0].typename = “AdhocHost”

# IP Address Configuration

*.robot1.ipv4.config = xmldoc(“robot1.xml”)

*.robot2.ipv4.config = xmldoc(“robot2.xml”)

*.robot3.ipv4.config = xmldoc(“robot3.xml”)

*.controller.ipv4.config = xmldoc(“controller.xml”)

*.gateway.ipv4.config = xmldoc(“gateway.xml”)

Create IP Address Configuration Files

Make XML files to outline the IP address configuration for each node.

Example: IP Configuration File for robot1 (robot1.xml)

</interface>

</config>

Example: IP Configuration File for robot2 (robot2.xml)

</interface>

</config>

Example: IP Configuration File for robot3 (robot3.xml)

</interface>

</config>

Example: IP Configuration File for controller (controller.xml)

</interface>

</config>

Example: IP Configuration File for gateway (gateway.xml)

</interface>

</config>

Implement Networked Robotics Application Logic

To emulate networked robotics applications so we need to apply the logic for data collection, communication, and control.

Example: Robot Application (Pseudo-Code)

#include <omnetpp.h>

using namespace omnetpp;

class RobotApp : public cSimpleModule

{

protected:

virtual void initialize() override;

virtual void handleMessage(cMessage *msg) override;

private:

void sendData();

};

Define_Module(RobotApp);

void RobotApp::initialize() {

// Initialization code

scheduleAt(simTime() + 1, new cMessage(“sendData”));

}

void RobotApp::handleMessage(cMessage *msg) {

if (strcmp(msg->getName(), “sendData”) == 0) {

sendData();

scheduleAt(simTime() + 1, msg);

} else {

// Handle other messages

}

void RobotApp::sendData() {

// Logic to send robot data to the controller

cMessage *msg = new cMessage(“robotData”);

send(msg, “out”);

}

Example: Controller Application (Pseudo-Code)

#include <omnetpp.h>

using namespace omnetpp;

class ControllerApp : public cSimpleModule

{

protected:

virtual void initialize() override;

virtual void handleMessage(cMessage *msg) override;

private:

void processAndForwardData(cMessage *msg);

};

Define_Module(ControllerApp);

void ControllerApp::initialize() {

// Initialization code

}

void ControllerApp::handleMessage(cMessage *msg) {

// Process data from robots and send commands

processAndForwardData(msg);

}

void ControllerApp::processAndForwardData(cMessage *msg) {

// Logic to process robot data and send commands

cMessage *commandMsg = new cMessage(“command”);

send(commandMsg, “out”);

delete msg; // Example: delete the original message after processing

}

Example: Gateway Application (Pseudo-Code)

#include <omnetpp.h>

using namespace omnetpp;

class GatewayApp : public cSimpleModule

{

protected:

virtual void initialize() override;

virtual void handleMessage(cMessage *msg) override;

private:

void processAndForwardData(cMessage *msg);

};

Define_Module(GatewayApp);

void GatewayApp::initialize() {

// Initialization code

}

void GatewayApp::handleMessage(cMessage *msg) {

// Process and forward data to the server

processAndForwardData(msg);

}

void GatewayApp::processAndForwardData(cMessage *msg) {

// Logic to process and forward data

send(msg, “out”);

}

Run the Simulation

Build the Project: Right-click on project and choose Build Project.
Run the Simulation: Click on the green play button in the OMNeT++ IDE to start the simulation.

In this demonstration, we completely know how to implement the basic setup simulation and to know how to execute the network robotics in OMNeT++ simulator tool. If you have any query regarding this process we also help to clarify it.

Networked Robotics in OMNeT++ implementation are aided by us , we give you best project ideas along with execution support.