Multivehicle simulation system
Name
319175011-MIT.pdf
Description
Full printable version
Size
7.75 MB
Format
Adobe PDF
Checksum (MD5)
41ef9d705c30c54481c24cb5fce3a0c0
Author(s)
Belote, Greg H
Advisor(s)
John J. Leonard.
Alternative Title
SUPERSIM : modular and transparent simulation system for robotics
Date Issued
2008
Publisher
Massachusetts Institute of Technology
Abstract
In this thesis, we designed and implemented a simulator that supports multiple robots within a dynamic environment. The goal of this tool is to provide a testing environment for navigational robots that run on the MOOS platform. The simulator is written in C++ and utilizes several open source libraries to create a virtual world for robots to interact with by faking sensor information. A design goal of this thesis has been to make the simulator versatile enough to be useful for a variety of robots, from land to marine. Such a tool is valuable in research because the cost of developing a custom simulator can consume too many man-hours. Reducing this cost by creating a generic and customizable simulator has been the main motivation behind this thesis. It has also been one of the major challenges behind the project.
Description
Thesis (M. Eng.)--Massachusetts Institute of Technology, Dept. of Electrical Engineering and Computer Science, 2008.
Includes bibliographical references (p. 39).
Subjects
Electrical Engineering and Computer Science.
MIT Department
Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science
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copyright. They may be viewed from this source for any purpose, but
reproduction or distribution in any format is prohibited without written
permission. See provided URL for inquiries about permission.
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