f1tenth.dev - An Open-source ROS based F1/10 Autonomous Racing Simulator
f1tenth.dev - An Open-source ROS based F1/10 Autonomous Racing Simulator
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f1tenth.dev - 基于 ROS 的开源 F1/10 自主赛车模拟器
DOI：
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发表时间：
2020
期刊：
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通讯作者：
Madhur Behl
中科院分区：
文献类型：
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作者：
V. Babu;Madhur Behl
本文介绍了ROS F1/10模拟器-基于ROS和Gazebo的自主赛车模拟器，旨在反映物理F1/10平台的行为和性能。该模拟器可用于在真实的F1/10赛车上进行测试之前验证自主赛车算法的性能。该模拟器支持大多数主要的ROS SLAM和导航软件包，并在开源许可下在www.f1tenth.dev上提供有关如何开始的教程，我们将继续添加对更多算法和功能的支持。本文详细介绍了模拟器的体系结构，设计和功能，并提出了几个研究用例，包括一个例子，在SIM卡开发和性能转移到比赛赛车。
This paper presents the ROS F1/10 simulator - a ROS and Gazebo based autonomous racing simulator designed to mirror the behaviour and performance of the physical F1/10 platform. The simulator can be used to verify the performance of autonomous racing algorithms before testing on the real F1/10 racecar. The simulator supports most major ROS SLAM and navigation packages with tutorials on how to get started available on www.f1tenth.dev under open-source license and we continue to add support for more algorithms and features. The paper presents details on the simulator architecture, design, and features and presents several research use-cases including an example of developing in the sim and transferring the performance to the race racecar.