Title :
View Simulation System: a mobile robot simulator using VR technology
Author :
Matsumoto, Yoshio ; Miyazaki, Takeshi ; Inaba, Masayuki ; Inoue, Hirochika
Author_Institution :
Graduate Sch. of Inf. Sci., Nara Inst. of Sci. & Technol., Japan
Abstract :
Simulation is an important issue in robotics research because it is essential for evaluating and predicting the behavior of a robot. However conventional simulators don´t have the function of simulating the visual perception process. This indicates that it is impossible to simulate the vision-based behavior of a robot. In this paper, we propose a new simulation system “View Simulation System (VSS)”, which is designed to simulate the behavior of a mobile robot equipped with vision. VSS has vision processing hardware, and can run any programs including vision processing for our real mobile robots. To show the feasibility of the simulator, we applied it to the evaluation of our visual navigation method
Keywords :
digital simulation; mobile robots; virtual reality; VR technology; VSS; View Simulation System; mobile robot equipped with vision; mobile robot simulator; virtual reality; vision processing hardware; visual perception process; Character generation; Computational modeling; Hardware; Image processing; Mobile robots; Navigation; Robot sensing systems; Robot vision systems; Variable structure systems; Virtual reality;
Conference_Titel :
Intelligent Robots and Systems, 1999. IROS '99. Proceedings. 1999 IEEE/RSJ International Conference on
Conference_Location :
Kyongju
Print_ISBN :
0-7803-5184-3
DOI :
10.1109/IROS.1999.812800
