面向Gazebo的海上机器人仿真

B. Bingham, Carlos E. Agüero, Michael McCarrin, J. Klamo, Joshua Malia, Kevin Allen, Tyler Lum, Marshall Rawson, Rumman Waqar
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引用次数: 37

摘要

仿真在新机器人应用的开发、测试和评估中发挥着重要作用,减少了实施时间、成本和风险。对于大多数机器人社区来说,开源的Gazebo机器人模拟器已经成为机器人系统原型设计和测试的事实上的标准环境。虽然Gazebo为地面,空中和空间机器人应用提供了强大的支持,但对于涉及水面和水下车辆的海洋应用,支持较少。为了解决这一缺陷,我们提出了虚拟机器人x (VRX)仿真,这是一种基于Gazebo的通用开源开发和测试工具,能够模拟在复杂海洋环境中操作的无人水面船只的行为。我们使用VRX挑战参考实施来强调这些功能的应用,VRX挑战参考实施是一项新的基于仿真的机器人竞赛,旨在补充物理海事RobotX挑战。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Toward Maritime Robotic Simulation in Gazebo
Simulation plays an important role in the development, testing and evaluation of new robotic applications, reducing implementation time, cost and risk. For much of the robotics community, the open-source Gazebo robot simulator has emerged as the de facto standard environment for prototyping and testing robotic systems. While Gazebo offers strong support for terrestrial, aerial and space robotics applications, less support is available for marine applications involving vehicles at and below the water surface. To address this deficiency, we present the Virtual RobotX (VRX) simulation, a general purpose open-source development and testing tool, based on Gazebo, capable of approximating the behavior of unmanned surface vessels operating in complex ocean environments. We highlight the application of these capabilities using the VRX challenge reference implementation, a new simulation-based robot competition designed to complement the physical Maritime RobotX Challenge.
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