Prototyping of Kinematics Simulator for Supporting Autonomous Mobile Robot Development

Kitaro Shimane; Ryo Ueda; Susumu Tarao

doi:10.20965/jrm.2016.p0470

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JRM Vol.28 No.4 pp. 470-478

doi: 10.20965/jrm.2016.p0470

(2016)

Paper:

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Prototyping of Kinematics Simulator for Supporting Autonomous Mobile Robot Development

Kitaro Shimane, Ryo Ueda, and Susumu Tarao

Department of Mechanical Engineering, National Institute of Technology, Tokyo College
1220-2 Kunugida-machi, Hachioji-shi, Tokyo 193-0997, Japan

Received:

March 12, 2016

Accepted:

June 29, 2016

Published:

August 20, 2016

Keywords:

Real World Robot Challenge, autonomous mobile robot, kinematics simulator, Monte Carlo localization

Abstract

A kinematics simulator for an autonomous mobile robot has been proposed to simulate complicated motions such as those caused by the interaction between a robot and its environment in terms of geometric relationship. The simulator is expected to assist in the development of a robot control system for autonomous running in the real world. This paper presents the simulator concept, its basic configuration, and the results of preliminary simulation experiments, which have been performed to evaluate a simple motion model, and an environment model based on occupancy grid maps and a laser range finder pseudo sensor model consisting of a typical probabilistic density. The results of the simulation experiments using the aforementioned multiple models are also presented to demonstrate that the simulator can perform in various numerical environments.

Appearance of the kinematics simulator

Cite this article as:

K. Shimane, R. Ueda, and S. Tarao, “Prototyping of Kinematics Simulator for Supporting Autonomous Mobile Robot Development,” J. Robot. Mechatron., Vol.28 No.4, pp. 470-478, 2016.

Data files:

References

[1] S. Yuta, “Open Experiment of Autonomous Navigation of Mobile Robots in the City: Tsukuba Challenge 2014 and the Results,” J. of Robotics and Mechatronics, Vol.27, No.4, pp. 318-326, 2015.
[2] A. Yamakawa, S. Sasaki, D. N. Bach, T. Hayashi, and S. Tarao, “Autonomous Wheelchair Robot Takao 4 Focused on Compact Mobility,” Proc. 2014 JSME Conf. Robotics and Mechatronics, 2A2-C07, 2014 (in Japanese).
[3] S. Thrun, W. Burgard, and D. Fox, “Probabilistic Robotics,” MIT Press, 2005.
[4] T. Higuchi, “Basis of Statistical Modeling for Prediction,” Kodansha Scientific, 2011 (in Japanese).
[5] N. Koenig and A. Howard, “Design and Use Paradigms for Gazebo, An Open-Source Multi-Robot Simulator,” Proc. IEEE/RSJ Int. Conf. Intelligent Robots and Systems, pp. 2149-2154, 2004.
[6] K. Shimane and S. Tarao, “Prototyping of Kinematics Simulator for Support for Autonomous Mobile Robot Development,” Proc. 2015 JSME Conf. Robotics and Mechatronics, 1P2-F04, 2015 (in Japanese).
[7] J. Borenstein and L. Feng, “Gyrodometry: A New Method for Combining Data from Gyros and Odometry in Mobile Robots,” Proc. IEEE Int. Conf. on Robotics and Automation, pp. 423-428 1996.
[8] J. E. Bresenham, “Algorithm for Computer Control of a Digital Plotter,” IBM Systems J., Vol.4, No.1, pp. 25-30, 1965.
[9] E. Digor, A. Birk, and A. Nchter, “Exploration Strategies for a Robot with a Continuously Rotating 3D Scanner Simulation, Modeling, and Programming for Autonomous Robots,” Proc. Simulation, Modeling, and Programming for Autonomous Robots (SIMPAR 2010), 2010.

This article is published under a Creative Commons Attribution-NoDerivatives 4.0 Internationa License.

[1] [1] S. Yuta, “Open Experiment of Autonomous Navigation of Mobile Robots in the City: Tsukuba Challenge 2014 and the Results,” J. of Robotics and Mechatronics, Vol.27, No.4, pp. 318-326, 2015.

[2] [2] A. Yamakawa, S. Sasaki, D. N. Bach, T. Hayashi, and S. Tarao, “Autonomous Wheelchair Robot Takao 4 Focused on Compact Mobility,” Proc. 2014 JSME Conf. Robotics and Mechatronics, 2A2-C07, 2014 (in Japanese).

[3] [3] S. Thrun, W. Burgard, and D. Fox, “Probabilistic Robotics,” MIT Press, 2005.

[4] [4] T. Higuchi, “Basis of Statistical Modeling for Prediction,” Kodansha Scientific, 2011 (in Japanese).

[5] [5] N. Koenig and A. Howard, “Design and Use Paradigms for Gazebo, An Open-Source Multi-Robot Simulator,” Proc. IEEE/RSJ Int. Conf. Intelligent Robots and Systems, pp. 2149-2154, 2004.

[6] [6] K. Shimane and S. Tarao, “Prototyping of Kinematics Simulator for Support for Autonomous Mobile Robot Development,” Proc. 2015 JSME Conf. Robotics and Mechatronics, 1P2-F04, 2015 (in Japanese).

[7] [7] J. Borenstein and L. Feng, “Gyrodometry: A New Method for Combining Data from Gyros and Odometry in Mobile Robots,” Proc. IEEE Int. Conf. on Robotics and Automation, pp. 423-428 1996.

[8] [8] J. E. Bresenham, “Algorithm for Computer Control of a Digital Plotter,” IBM Systems J., Vol.4, No.1, pp. 25-30, 1965.

[9] [9] E. Digor, A. Birk, and A. Nchter, “Exploration Strategies for a Robot with a Continuously Rotating 3D Scanner Simulation, Modeling, and Programming for Autonomous Robots,” Proc. Simulation, Modeling, and Programming for Autonomous Robots (SIMPAR 2010), 2010.