Simulating autonomous robot teams with Microsoft robotics studio
De Rango, Ross and Nahavandi, Saeid 2007, Simulating autonomous robot teams with Microsoft robotics studio, in SimTecT 2007 : Conference proceedings : 4 - 7 June 2007, Brisbane Convention Centre, Brisbane, Queensland Australia, Simulation Industry Association of Australia, Lindfield, N.S.W., pp. 1-6.
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SimTecT 2007 : Conference proceedings : 4 - 7 June 2007, Brisbane Convention Centre, Brisbane, Queensland Australia
Simulation Industry Association of Australia
Place of publication
This paper presents an application of Microsoft Robotics Studio (MSRS) in which a team of six four wheel drive, ground based robots explore and map simulated terrain. The user has the ability to modify the terrain and assign destination objectives to the team while the simulation is running. The terrain is initially generated using a gray scale image, in which the intensity of each pixel in the image gives an altitude datum. The robots start with no knowledge of their surroundings, and map the terrain as they attempt to reach user-defined target objectives. The mapping process simulates the use of common sensory hardware to determine datum points, including provision for field of view, detection range, and measurement accuracy. If traversal of a mapped area is indicated by the users’ targeting commands, path planning heuristics developed for MSRS by the author in earlier work are used to determine an efficient series of waypoints to reach the objective. Mutability of terrain is also explored- the user is able to modify the terrain without stopping the simulation. This forces the robots to adapt to changing environmental conditions, and permits analysis of the robustness of mapping algorithms used when faced with a changing world.
This paper was originally published in the SimTecT 2007 Conference Proceedings
Field of Research
099999 Engineering not elsewhere classified
HERDC Research category
E2 Full written paper - non-refereed / Abstract reviewed
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