Advances in Simulation of Planetary Wheeled Mobile Robots

Ding, Liang; Gao, Haibo; Deng, Zongquan; Li, Weihua

doi:10.5772/25548

Cited by 5 publications

(2 citation statements)

References 21 publications

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“…The potential of simulation as a tool for aiding the development of space robots has long been recognised, with examples such as SpaceDyn [20], ROAMS [21], and 3DROV [22] paving the way for future, more advanced solutions. In their survey [23], Ding et al gave an overview of simulators, almost a decade later. They noted the emergence of follow-up solutions, such as ROSTDyn [24] or the use of commercial tools for multibody simulation [25] integrated within more extensive toolsets [26].…”

Section: Related Workmentioning

confidence: 99%

LunarSim: Lunar Rover Simulator Focused on High Visual Fidelity and ROS 2 Integration for Advanced Computer Vision Algorithm Development

Pieczyński,

Ptak,

Kraft

et al. 2023

Applied Sciences

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Autonomous lunar exploration is a complex task that requires the development of sophisticated algorithms to control the movement of lunar rovers in a challenging environment, based on visual feedback. To train and evaluate these algorithms, it is crucial to have access to both a simulation framework and data that accurately represent the conditions on the lunar surface, with the main focus on providing the visual fidelity necessary for computer vision algorithm development. In this paper, we present a lunar-orientated robotic simulation environment, developed using the Unity game engine, built on top of robot operating system 2 (ROS 2), which enables researchers to generate quality synthetic vision data and test their algorithms for autonomous perception and navigation of lunar rovers in a controlled environment. To demonstrate the versatility of the simulator, we present several use cases in which it is deployed on various efficient hardware platforms, including FPGA and Edge AI devices, to evaluate the performance of different vision-based algorithms for lunar exploration. In general, the simulation environment provides a valuable tool for researchers developing lunar rover systems.

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Section: Related Workmentioning

confidence: 99%

LunarSim: Lunar Rover Simulator Focused on High Visual Fidelity and ROS 2 Integration for Advanced Computer Vision Algorithm Development

Pieczyński,

Ptak,

Kraft

et al. 2023

Applied Sciences

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show abstract

“…The Wong-Reece model has been widely applied to WMR research, including simulation (F. Zhou et al, Journal of Field Robotics. 31(1) [18] 141-160.; [19]), control [20,21], and parameter identification [22,23]. In order to improve the accuracy and adaptability of the Wong-Reece model, some ad hoc models have been developed.…”

Section: Introductionmentioning

confidence: 99%