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Simulation Framework for Mobile Robots in Planetary-Like Environments
- Publication Year :
- 2020
- Publisher :
- arXiv, 2020.
-
Abstract
- 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.<br />Comment: To be presented at the 7th IEEE International Workshop on Metrology for Aerospace (MetroAerospace)
- Subjects :
- Rapid prototyping
FOS: Computer and information sciences
0209 industrial biotechnology
Ground truth
Computer science
020208 electrical & electronic engineering
Real-time computing
Ranging
Mobile robot
02 engineering and technology
Solid modeling
Robotics
Simultaneous localization and mapping
Navigation
Robot Operating System
Computer Science - Robotics
020901 industrial engineering & automation
Resource (project management)
Lidar
Gazebo
0202 electrical engineering, electronic engineering, information engineering
Robotics (cs.RO)
Simulation
Subjects
Details
- Database :
- OpenAIRE
- Accession number :
- edsair.doi.dedup.....706c4ea3154cee411073b7450df35f5f
- Full Text :
- https://doi.org/10.48550/arxiv.2006.00057