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JRM Vol.28 No.4 pp. 470-478
doi: 10.20965/jrm.2016.p0470
(2016)

Paper:

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

Prototyping of Kinematics Simulator for Supporting Autonomous Mobile Robot Development

Appearance of the kinematics simulator

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.

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
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Last updated on Nov. 20, 2018