MODELING AND SIMULATING MOBILE ROBOT ENVIRONMENTS

Oliver Kutter, Christian Hilker, Alexander Simon, Bärbel Mertsching

Abstract

According to the requirements of our ongoing research on algorithms of robot vision and manipulation, we present a newly developed simulation framework for mobile robot environments called SIMORE. A dynamic 3D environment has been created in which simulated robots, sensors and actors can be manipulated. Multiple methods to operate a robot are provided including control by manual input devices, graphical user interface and program commands. The interface to the simulator is transparent so that the control commands can be directly transferred to the real hardware platform after successful simulation tests. In addition to the 3D graphics engine the simulator has a physics engine to guarantee a correct physical behavior. The modeling of all objects (visual and dynamic) can be done in modeling software. Simulations can run either in an offline mode, in which actions are predefined, or in an online mode, where an operator can directly manipulate the simulated system by manual input devices. The simulation framework is designed to be modular and flexible in order to allow future extensions and enhancements such as inclusion of additional sensors.

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Paper Citation


in Harvard Style

Kutter O., Hilker C., Simon A. and Mertsching B. (2008). MODELING AND SIMULATING MOBILE ROBOT ENVIRONMENTS . In Proceedings of the Third International Conference on Computer Graphics Theory and Applications - Volume 1: GRAPP, (VISIGRAPP 2008) ISBN 978-989-8111-20-3, pages 335-341. DOI: 10.5220/0001097603350341


in Bibtex Style

@conference{grapp08,
author={Oliver Kutter and Christian Hilker and Alexander Simon and Bärbel Mertsching},
title={MODELING AND SIMULATING MOBILE ROBOT ENVIRONMENTS},
booktitle={Proceedings of the Third International Conference on Computer Graphics Theory and Applications - Volume 1: GRAPP, (VISIGRAPP 2008)},
year={2008},
pages={335-341},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001097603350341},
isbn={978-989-8111-20-3},
}


in EndNote Style

TY - CONF
JO - Proceedings of the Third International Conference on Computer Graphics Theory and Applications - Volume 1: GRAPP, (VISIGRAPP 2008)
TI - MODELING AND SIMULATING MOBILE ROBOT ENVIRONMENTS
SN - 978-989-8111-20-3
AU - Kutter O.
AU - Hilker C.
AU - Simon A.
AU - Mertsching B.
PY - 2008
SP - 335
EP - 341
DO - 10.5220/0001097603350341