Abstract
In this work we describe a simulation environment for an autonomous all-terrain mobile robot. To allow for extensive test and verification of the high-level perception, planning, and trajectory control modules, the low-level control systems, the sensors, and the vehicle dynamics have been modeled and simulated by means of the V-Rep 3D simulator. We discuss the overall, i.e., high and low-level, software architecture and we present some validation experiments in which the behavior of the real system is compared with the corresponding simulations.
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Bardaro, G., Cucci, D.A., Bascetta, L., Matteucci, M. (2014). A Simulation Based Architecture for the Development of an Autonomous All Terrain Vehicle. In: Brugali, D., Broenink, J.F., Kroeger, T., MacDonald, B.A. (eds) Simulation, Modeling, and Programming for Autonomous Robots. SIMPAR 2014. Lecture Notes in Computer Science(), vol 8810. Springer, Cham. https://doi.org/10.1007/978-3-319-11900-7_7
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DOI: https://doi.org/10.1007/978-3-319-11900-7_7
Publisher Name: Springer, Cham
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