Pregled bibliografske jedinice broj: 307026
Two approaches to mobile robots simulator design
Two approaches to mobile robots simulator design // Proceedings of the 6th EUROSIM Congress on Modelling and Simulation (EUROSIM 2007)
Ljubljana, 2007. str. 1-9 (predavanje, međunarodna recenzija, cjeloviti rad (in extenso), znanstveni)
CROSBI ID: 307026 Za ispravke kontaktirajte CROSBI podršku putem web obrasca
Naslov
Two approaches to mobile robots simulator design
Autori
Klančar, Gregor ; Brezak, Mišel ; Petrović, Ivan ; Matko, Drago
Vrsta, podvrsta i kategorija rada
Radovi u zbornicima skupova, cjeloviti rad (in extenso), znanstveni
Izvornik
Proceedings of the 6th EUROSIM Congress on Modelling and Simulation (EUROSIM 2007)
/ - Ljubljana, 2007, 1-9
Skup
6th EUROSIM Congress on Modelling and Simulation (EUROSIM 2007)
Mjesto i datum
Ljubljana, Slovenija, 09.09.2007. - 13.09.2007
Vrsta sudjelovanja
Predavanje
Vrsta recenzije
Međunarodna recenzija
Ključne riječi
Robot Simulator; Modeling; Collision Detection; Physics Engine
Sažetak
This paper presents the design of a mobile robots simulator which is applicable for robot soccer or for general use. The simulator consists of a group of mobile robots, the ball and includes knowledge of their dynamic behavior modeling, collisions modeling and visualization. Two different approaches to the design of this simulator are given and compared. By the first approach the simulator physics background was completely developed by our team, which enabled us to get a better insight into the problem domain and gave us the possibility to efficiently solve some simulator specifics. First the model of ball and robot motion was derived and then complex approximate collisions models, where the real robot shape is taken into consideration. Some new ideas of collision formulation, realization and real robot shape inclusion are used. By the second approach the simulator was developed using freely available physics engine ODE ? Open Dynamics Engine. This engine already includes physical background for rigid bodies dynamic ; it is up to the user to define mechanical and physical parameters of the objects to simulate e.g. dimensions, masses, friction, joints and the like. The implementation of both simulators are described and a comparisons of their reality description, computational efficiency, effort and knowledge needed to built the simulator, advantages and disadvantages are given.
Izvorni jezik
Engleski
Znanstvena područja
Elektrotehnika, Računarstvo, Temeljne tehničke znanosti
POVEZANOST RADA
Projekti:
036-0361621-3012 - Napredne strategije upravljanja i estimacije u složenim sustavima (Perić, Nedjeljko, MZO ) ( CroRIS)
036-0363078-3018 - Upravljanje mobilnim robotima i vozilima u nepoznatim i dinamičkim okruženjima (Petrović, Ivan, MZO ) ( CroRIS)
Ustanove:
Fakultet elektrotehnike i računarstva, Zagreb
