Authors:
Burtin Gabriel
1
;
Bonnin Patrick
2
and
Malartre Florent
1
Affiliations:
1
4D-Virtualiz, 10 Allee Evariste Galois, Clermont-Ferrand and France
;
2
LISV, Universite de Versailles St Quentin, 10-12 Avenue de l’Europe Velizy and France
Keyword(s):
Robotic Simulation, Real-time Simulator, Hardware In the Loop, Camera-lidar Sensor Fusion.
Related
Ontology
Subjects/Areas/Topics:
Application Domains
;
Biomedical Engineering
;
Biomedical Signal Processing
;
Real-Time Systems
;
Robotics, Automation and Mechatronics
;
Simulation and Modeling
Abstract:
This paper addresses the issue of efficient transition from robotic simulation to field experiments and validation. The idea to ease this transition is to proceed step by step with small increments in complexity. A user begins with a simple and not so realistic simulation and evolve slowly to a complex and realistic one. We identified two axis to be tackled to achieve this steps by step complexity. The first axis is about the communication with the sensors: each sensors have a specific protocol. A simple simulation can by-pass this protocol by proposing a (universal) middleware connection while a complex one will emulate the real protocol to ensure a realistic data exchange between the processing unit and the sensor. The second axis is the opportunity to emulate a large spectrum of simulation complexity for a given sensor/environment. To increase the realism, similarly to the communication protocol, the realism of the sensor and its interactions with the environment can be increased
from simple to the most realistic. These concepts are tested with a real use-case: the development of an indoor real-time localization system. The main development is done with a simulator compliant with our requirements. Afterward, the code designed with simulation is tested with a real robot for final validation.
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