Simulation is an essential part of robotics, whether for stationary manipulators, mobile robots, or for complete manufacturing processes in factory automation. We have developed a number of robot simulation systems over the years, two of which will be presented in this Chapter.
EyeSim is a simulation system for multiple interacting mobile robots. Environment modeling is 21/2, while 3D sceneries are generated with synthetic images for each robot’s camera view of the scene. Robot application programs are compiled into dynamic link libraries that are loaded by the simulator. The system integrates the robot console with text and color graphics, sensors, and actuators at the level of a velocity/position control (vω) driving interface.
This is a preview of subscription content, log in via an institution.
Buying options
Tax calculation will be finalised at checkout
Purchases are for personal use only
Learn about institutional subscriptionsPreview
Unable to display preview. Download preview PDF.
15.10 References
Bräunl, T. Research Relevance of Mobile Robot Competitions, IEEE Robotics and Automation Magazine, vol. 6, no. 4, Dec. 1999, pp. 32-37 (6)
Bräunl, T., Stolz, H. Mobile Robot Simulation with Sonar Sensors and Cam-eras, Simulation, vol. 69, no. 5, Nov. 1997, pp. 277-282 (6)
Bräunl, T. Koestler, A. Waggershauser, A. Mobile Robots between Sim-ulation & Reality, Servo Magazine, vol. 3, no. 1, Jan. 2005, pp. 43-50 (8)
COIN3D, The Coin Source, http://www.Coin3D.org, 2006
Dorf, R. Bishop, R. Modern Control Systems, Prentice-Hall, Englewood Cliffs NJ, Ch. 4, 2001, pp 174-223 (50)
Koestler, A., Bräunl, T., Mobile Robot Simulation with Realistic Error Models, International Conference on Autonomous Robots and Agents, ICARA 2004, Dec. 2004, Palmerston North, New Zealand, pp. 46-51 (6)
Konolige, K. Saphira Version 6.2 Manual, [originally: Internal Report, SRI, Stanford CA, 1998], http://www.ai.sri.com/~konolige/saphira/, 2001
Kuffner, J., Latombe, J.-C. Fast Synthetic Vision, Memory, and Learning Models for Virtual Humans, Proceedings of Computer Animation, IEEE, 1999, pp. 118-127 (10)
Leclercq, P., Bräunl, T. A Color Segmentation Algorithm for Real-Time Ob-ject Localization on Small Embedded Systems, in R. Klette, S. Peleg, G. Sommer (Eds.), Robot Vision 2001, Lecture Notes in Computer Science, no. 1998, Springer-Verlag, Berlin Heidelberg, 2001, pp. 69-76 (8)
Matsumoto, Y., Miyazaki, T., Inaba, M., Inoue, H. View Simulation Sys-tem: A Mobile Robot Simulator using VR Technology, Proceedings of the International Conference on Intelligent Robots and Systems, IEEE/ RSJ, 1999, pp. 936-941 (6)
MILKSHAPE, Milkshape 3D, http://www.swissquake.ch/chumbalum-soft, 2006
NEWTON, Newton Game Dynamics, http://www.physicsengine.com, 2006
Quin, L., Extensible Markup Language (XML), W3C Architecture Domain, http://www.w3.org/XML/, 2006
Ridley, P., Fontan, J., Corke, P. Submarine Dynamic Modeling, Australasian Conference on Robotics and Automation, CD-ROM Proceedings, 2003, pp. (6)
TINYXML, tinyxml, http://tinyxml.sourceforge.net, 2006
Trieb, R. Simulation as a tool for design and optimization of autonomous mobile robots (in German), Ph.D. Thesis, Univ. Kaiserslautern, 1996
Wang, L., Tan, K., Prahlad, V. Developing Khepera Robot Applications in a Webots Environment, 2000 International Symposium on Microme-chatronics and Human Science, IEEE, 2000, pp. 71-76 (6)
WXWIDGETS, wxWidgets, the open source, cross-platform native UI framework, http://www.wxwidgets.org, 2006
Yoerger, D., Cooke, J, Slotine, J. The Influence of Thruster Dynamics on Underwater Vehicle Behaviours and their Incorporation into Control System Design, IEEE Journal on Oceanic Engineering, vol. 15, no. 3, 1991, pp. 167-178 (12)
Rights and permissions
Copyright information
© 2008 Springer-Verlag Berlin Heidelberg
About this chapter
Cite this chapter
(2008). Simulation Systems. In: Embedded Robotics. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-70534-5_15
Download citation
DOI: https://doi.org/10.1007/978-3-540-70534-5_15
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-70533-8
Online ISBN: 978-3-540-70534-5
eBook Packages: Computer ScienceComputer Science (R0)