Development of an Autonomous Rescue Robot Within the USARSim 3D Virtual Environment
Development of an Autonomous Rescue Robot Within the USARSim 3D Virtual Environment
复制标题
在 USARSim 3D 虚拟环境中开发自主救援机器人
DOI：
10.1007/978-3-540-74024-7_50
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发表时间：
2006
期刊：
影响因子：
--
通讯作者：
D. Nardi
中科院分区：
文献类型：
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作者：
Giuliano Polverari;D. Calisi;A. Farinelli;D. Nardi
人们对救援机器人技术的兴趣日益浓厚，加上典型救援环境的复杂性，使得在应用开发阶段有必要使用高保真 3D 模拟器。 USARSim 是一款基于商业游戏引擎的开源高保真救援环境模拟器。在本文中，我们描述了 USARSim 模拟环境中自主救援机器人的开发。我们描述了我们的救援机器人系统，并展示了我们对 USARSim 所做的扩展，以便对我们的机器人进行令人满意的模拟。此外，作为一个案例研究，我们提出了一种算法来避免基于激光扫描仪的测绘过程中看不见的障碍物。
The increasing interest towards rescue robotics and the complexity of typical rescue environments make it necessary to use high fidelity 3D simulators during the application development phase. USARSim is an open source high fidelity simulator for rescue environments, based on a commercial game engine. In this paper, we describe the development of an autonomous rescue robot within the USARSim simulation environment. We describe our rescue robotic system and present the extensions we made to USARSim in order to have a satisfying simulation of our robot. Moreover, as a case study, we present an algorithm to avoid obstacles invisible to our laser scanner based mapping process.