论文标题
类似行星的环境中移动机器人的仿真框架
Simulation Framework for Mobile Robots in Planetary-Like Environments
论文作者
论文摘要
在本文中，我们提出了一个模拟框架，用于评估机器人平台的导航和定位计量性能。基于ROS（机器人操作系统）凉亭的模拟器针对类似行星的研究工具，该工具允许测试特定环境条件的各种感知和导航方法。模拟任意传感器设置的可能性包括摄像机，激光镜头（光检测和射程）和IMUS，使凉亭成为快速原型制作的绝佳资源。在这项工作中，我们评估了在模拟的火星环境中评估各种开源视觉和激光雷达（同时定位和映射）算法。通过驱动流动站和记录传感器输出以及基础真相来捕获数据集，以进行精确的性能评估。
In this paper we present a simulation framework for the evaluation of the navigation and localization metrological performances of a robotic platform. The simulator, based on ROS (Robot Operating System) Gazebo, is targeted to a planetary-like research vehicle which allows to test various perception and navigation approaches for specific environment conditions. The possibility of simulating arbitrary sensor setups comprising cameras, LiDARs (Light Detection and Ranging) and IMUs makes Gazebo an excellent resource for rapid prototyping. In this work we evaluate a variety of open-source visual and LiDAR SLAM (Simultaneous Localization and Mapping) algorithms in a simulated Martian environment. Datasets are captured by driving the rover and recording sensors outputs as well as the ground truth for a precise performance evaluation.
