Multivehicle simulation system
Author(s)Belote, Greg H
SUPERSIM : modular and transparent simulation system for robotics
Massachusetts Institute of Technology. Dept. of Electrical Engineering and Computer Science.
John J. Leonard.
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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.
Thesis (M. Eng.)--Massachusetts Institute of Technology, Dept. of Electrical Engineering and Computer Science, 2008.Includes bibliographical references (p. 39).
DepartmentMassachusetts Institute of Technology. Dept. of Electrical Engineering and Computer Science.
Massachusetts Institute of Technology
Electrical Engineering and Computer Science.