Authors:
Markus Sauer
1
;
Florian Zeiger
1
and
Klaus Schilling
2
Affiliations:
1
Zentrum für Telematik e.V, Germany
;
2
University of Würzburg, Germany
Keyword(s):
Networked mobile robots, Communication, Simulation.
Related
Ontology
Subjects/Areas/Topics:
Informatics in Control, Automation and Robotics
;
Mobile Robots and Autonomous Systems
;
Modeling, Simulation and Architectures
;
Network Robotics
;
Robotics and Automation
Abstract:
Simulations are a very powerful tool in robotics to design and verify new algorithms before doing timeconsuming tests with real hardware. Nowadays, a lot of very realistic simulation environments are available to simulate robot kinematics and dynamics and any type of multi-robot systems in a virtual physical environment. Unfortunately, the communication in these simulations is often only considered in a very simplified matter, although the characteristics of a real communication link are very complex and might have a strong influence on the performance of a multi-robot algorithm. This contribution proposes a setup to perform communication hardware in the loop tests with the 3D simulation environment USARSim. For this setup any communication device which can be connected to a PC architecture like WLAN, UMTS or Bluetooth can be used. A cooperative collision avoidance algorithm is presented as an example which is realized with this setup, while real hardware is used for the communicatio
n link between the robots. Finally, the limitations are presented.
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