영역센서를 가진 이동로봇의 동작시뮬레이션 및 응용

Abstract

Development of autonomous mobile robot is one of the challenging works in the robotics field. Development of simulator is needed to reduce the danger, time, and expenses for autonomous mobile robot research. In this paper, we describe a simulator developed for research on autonomous mobile robots. The simulator uses "PioneerⅡ" as a prototype robot. Also, the simulator uses the same command and protocol as these of the "PioneerⅡ". It uses IPC for communication between the modules of controller, sensors, and other equipments. This facilitates development of softwares in some modules. Each software can be developed independently and can be interchangeable with other softwares modules of simulator functions. The simulator used OpenGL for graphic presentation. It is used to test an obstacle avoidance algorithm.