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Erschienen in:
2014 | OriginalPaper | Buchkapitel
A Simulation Based Architecture for the Development of an Autonomous All Terrain Vehicle
verfasst von : Gianluca Bardaro, Davide Antonio Cucci, Luca Bascetta, Matteo Matteucci
Erschienen in: Simulation, Modeling, and Programming for Autonomous Robots
Verlag: Springer International Publishing
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In this work we describe a simulation environment for an autonomous all-terrain mobile robot. To allow for extensive test and verification of the high-level perception, planning, and trajectory control modules, the low-level control systems, the sensors, and the vehicle dynamics have been modeled and simulated by means of the V-Rep 3D simulator. We discuss the overall, i.e., high and low-level, software architecture and we present some validation experiments in which the behavior of the real system is compared with the corresponding simulations.