A simulation based architecture for the development of an autonomous all terrain vehicle

被引：7

作者：

Bardaro, Gianluca ^{[1
]}

Cucci, Davide Antonio ^{[1
]}

Bascetta, Luca ^{[1
]}

Matteucci, Matteo ^{[1
]}

机构：

[1] Dipartimento di Elettronica, Informazione e Bioingegneria, Politecnico di Milano, Piazza Leonardo da Vinci 32, Milano

来源：

Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) | 2014年 / 8810卷

关键词：

Off road vehicles - Landforms;

D O I：

10.1007/978-3-319-11900-7_7

中图分类号：

学科分类号：

摘要：

In this work we describe a simulation environment for an autonomous all-terrain mobile robot. To allow for extensive test and verification of the high-level perception, planning, and trajectory control modules, the low-level control systems, the sensors, and the vehicle dynamics have been modeled and simulated by means of the V-Rep 3D simulator. We discuss the overall, i.e., high and low-level, software architecture and we present some validation experiments in which the behavior of the real system is compared with the corresponding simulations. © Springer International Publishing Switzerland 2014.

引用

页码：74 / 85

页数：11

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