AutoDRIVE Simulator - Technical Report

AutoDRIVE Simulator - Technical Report
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AutoDRIVE 模拟器 - 技术报告

DOI：
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发表时间：
2022
期刊：
arXiv.org
影响因子：
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通讯作者：
Chinmay Vilas Samak
Chinmay Vilas Samak
中科院分区：
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文献类型：
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作者：
Tanmay Vilas Samak;Chinmay Vilas Samak

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这项工作是新加坡南洋理工大学机械与航空航天工程学院副教授谢明博士指导的题为“利用机器人操作系统开发仿真系统”的研究实习的成果。本报告已提交给India Connect @ NTU（IC@N）办公室，作为2020年India Connect @ NTU（IC@N）研究实习计划的一部分。AutoDRIVE被设想为一个规模化自动驾驶汽车的综合研究平台。这项工作是实现这样一个研究平台的更大目标的垫脚石。特别是，这项工作提出了一个伪现实的模拟器规模的自动驾驶汽车，这是针对简单性，模块化和灵活性。AutoDRIVE Simulator不仅模拟真实的系统动力学，还模拟全面的传感器套件和真实的执行器响应。该模拟器还具有一个通信桥，以便与外部开发的自动驾驶软件栈接口，这使用户能够方便地设计和开发他们的算法，并在我们的模拟器上进行测试。目前，该桥接器与机器人操作系统（ROS）兼容，并且可以直接与作为该项目一部分开发的Python和C++脚本接口。网桥支持本地和分布式计算。
This work is an outcome of research internship focused on the research topic entitled “Development of a Simulation System using Robot Operating System” supervised by Assoc. Prof. Dr. Ming Xie at the School of Mechanical and Aerospace Engineering, Nanyang Technological University, Singapore. This report was submitted to the India Connect @ NTU (IC@N) Office as a part of the India Connect @ NTU (IC@N) Research Internship Program, 2020. ABSTRACT AutoDRIVE is envisioned to be a comprehensive research platform for scaled autonomous vehicles. This work is a stepping-stone towards the greater goal of realizing such a research platform. Particularly, this work proposes a pseudo-realistic simulator for scaled autonomous vehicles, which is targeted towards simplicity, modularity and flexibility. The AutoDRIVE Simulator not only mimics realistic system dynamics but also simulates a comprehensive sensor suite and realistic actuator response. The simulator also features a communication bridge in order to interface externally developed autonomous driving software stack, which allows users to design and develop their algorithms conveniently and have them tested on our simulator. Presently, the bridge is compatible with Robot Operating System (ROS) and can be interfaced directly with the Python and C++ scripts developed as a part of this project. The bridge supports local as well as distributed computing.