Mobile Robot Simulation With Sonar Sensors And Cameras  

Oleh:

Braunl, Thomas ; Stolz, Horst

Jenis: Article from Journal - ilmiah internasional
Dalam koleksi: Simulation vol. 69 no. 5 (May 1993), page 277-287.
Topik: Mobile robots; MOBS; sonar sensors; Robuter; sensor modeling; PVM
Fulltext: 277.pdf (522.74KB)

Isi artikel

The Mobile Robot Simulator (MOBS) provides a physically correct threedimensional simulation of the commercial mobile robot system "Robuter." Collisions between several independently controlled vehicles or between a vehicle and an obstacle are detected. The simulation system can be used for testing and debugging vehicle programs without even the need for recompilation. Simulated and modeled sensors are the vehicle odometer, bumpers, sonar sensors, and the camera. The sonar simulation also handles multiple reflections and cross-talks, while the camera image frames are rendered in real time using a graphics workstation. A three-dimensional environment editor allows the creation of three-dimensional scenes, including walls, doors, furniture, people, and mobile robots. The communication between simulation program, rendering, and robot application program is performed via the Parallel Virtual Machine (PVM) tool.

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