Framework Using ROS and SimTwo Simulator for Realistic Test of Mobile Robot Controllers
Framework Using ROS and SimTwo Simulator for Realistic Test of Mobile Robot Controllers
复制标题
使用 ROS 和 SimTwo 模拟器对移动机器人控制器进行实际测试的框架
DOI：
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发表时间：
2015
期刊：
影响因子：
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通讯作者：
J. Boaventura
中科院分区：
文献类型：
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作者：
Tatiana M. Pinho;A. Moreira;J. Boaventura
在机器人技术中，一个可靠的仿真工具是一个重要的设计和测试资源，因为算法的性能进行评估之前，在真实的移动的机器人。虚拟环境使人们能够在受控的情况下进行广泛的实验，而不依赖于物理平台，以更快，更便宜的方式。虽然，模拟器应该能够代表真实的环境中存在的所有相关特性，如动态（形状，质量，表面摩擦等），碰撞模拟、真实噪声等因素，以保证结果的准确性和可靠性。
In robotics, a reliable simulation tool is an important design and test resource because the performance of algorithms is evaluated before being implemented in real mobile robots. The virtual environment makes it possible to conduct extensive experiments in controlled scenarios, without the dependence of a physical platform, in a faster and inexpensive way. Although, simulators should be able to represent all the relevant characteristics that are present in the real environment, like dynamic (shape, mass, surface friction, etc.), impact simulation, realistic noise, among other factors, in order to guarantee the accuracy and reliability of the results.