Virtual-real combined digital twinning system based on unreal engine and mobile robot

The invention discloses a virtual-real combined digital twin system based on an unreal engine and a mobile robot, and relates to the field of mobile robots. In the system, a physical test board comprises an omnidirectional wheel robot, a camera array and an AprilTag-based positioning system; the omni-directional wheel robot comprises a robot chassis with a plurality of omni-directional wheels and controllers of different processors. The virtual test board is built based on an unreal engine 5 and a PhysX physical engine according to the physical test board; the virtual-real interaction framework comprises a communication framework based on a MySQL database and a heuristic parameter search algorithm; the communication framework based on the MySQL database is used as a memory and a transfer station of data of the virtual testboard and the physical testboard; a heuristic parameter search algorithm searches partial physical parameters of the virtual test board. According to the method, the control ...