Mobile Robot Performance in Robotics Challenges: Analyzing a Simulated Indoor Scenario and Its Translation to Real-World

Author

Rodriguez Lera, Francisco ; Casado Garcia, Fernando ; Esteban, Gonzalo ; Matellan, Vicente

Author_Institution

Depto. de Ingenierias Mec., Inf. y Aerosp., Univ. de Leon, León, Spain

fYear

2014

Firstpage

149

Lastpage

154

Abstract

This paper discusses the pros and cons of using 3D simulators for testing the autonomous behavior of mobile robots in indoor environments. Major contribution of the paper is the discussion about which problems that can be faced using the simulator and those that cannot. We present the integration and calibration of a real non-commercial robot in a simulator, the characterization of the errors in sensing, navigation, and manipulation, and how these errors would impact in the real performance of the robot. The experimental support of the claims made in the paper has been developed using the gazebo simulator. RoCKIn competition rulebook defined the indoor restrictions.

Keywords

control engineering computing; mobile robots; path planning; 3D simulator; RoCKIn competition rulebook; gazebo simulator; mobile robot behavior; mobile robot performance; robot manipulation; robot navigation; robot sensing; robotics challenge; simulated indoor scenario; Feature extraction; Hardware; Mobile robots; Robot sensing systems; Software; Robot simulation; error calibration; indoor simulation; simulator performance;

fLanguage

English

Publisher

ieee

Conference_Titel

Artificial Intelligence, Modelling and Simulation (AIMS), 2014 2nd International Conference on

Print_ISBN

978-1-4799-7599-0

Type

conf

DOI

10.1109/AIMS.2014.35

Filename

7102451