论文标题
ART/ATK：评估和减轻机器人技术和自动驾驶汽车工程中的SIM模型差距的研究平台
ART/ATK: A research platform for assessing and mitigating the sim-to-real gap in robotics and autonomous vehicle engineering
论文作者
论文摘要
我们讨论一个具有软件和硬件组件的平台，其目的是支持研究和减轻机器人技术和车辆自治工程中的SIM模型差距。该软件独立于操作系统，具有三个主要组件：一个称为Chrono的模拟引擎，该引擎支持高保真车辆和传感器仿真；用于算法设计和测试的自治堆栈；以及支持可视化和硬件实验的开发环境。随附的硬件平台是一个1/6刻度的车辆，并具有可重新配置的用于计算，传感和跟踪的可重新配置的安装。由于该车辆平台在模拟环境中具有数字双胞胎，因此可以在模拟和现实中测试相同的自主感知，状态估计或控制算法以及它们所运行的处理器。提供了一个演示，以显示该平台用于自治研究的利用。未来的工作将集中于增强艺术/ATK，并支持全尺寸的Chevy Bolt EUV，这将在不久的将来向该组提供。
We discuss a platform that has both software and hardware components, and whose purpose is to support research into characterizing and mitigating the sim-to-real gap in robotics and vehicle autonomy engineering. The software is operating-system independent and has three main components: a simulation engine called Chrono, which supports high-fidelity vehicle and sensor simulation; an autonomy stack for algorithm design and testing; and a development environment that supports visualization and hardware-in-the-loop experimentation. The accompanying hardware platform is a 1/6th scale vehicle augmented with reconfigurable mountings for computing, sensing, and tracking. Since this vehicle platform has a digital twin within the simulation environment, one can test the same autonomy perception, state estimation, or controls algorithms, as well as the processors they run on, in both simulation and reality. A demonstration is provided to show the utilization of this platform for autonomy research. Future work will concentrate on augmenting ART/ATK with support for a full-sized Chevy Bolt EUV, which will be made available to this group in the immediate future.
