In the process of development a control strategy for mobile robots, simulation is important for testing the software components, robot behavior and control algorithms in different surrounding environments. In this paper we introduce a simulation environment for mobile robots based on ROS and Gazebo. We show that after properly creating the robot models under Gazebo, the code developed for the simulation process can be directly implemented in the real robot without modifications. In this paper autonomous navigation tasks and 3D-mapping simulation using control programs under ROS are presented. Both the simulation and experimental results agree very well and show the usability of the developed environment.
Comments: 6 Pages.
[v1] 2017-05-29 09:22:13
Unique-IP document downloads: 313 times
Vixra.org is a pre-print repository rather than a journal. Articles hosted may not yet have been verified by peer-review and should be treated as preliminary. In particular, anything that appears to include financial or legal advice or proposed medical treatments should be treated with due caution. Vixra.org will not be responsible for any consequences of actions that result from any form of use of any documents on this website.
Add your own feedback and questions here:
You are equally welcome to be positive or negative about any paper but please be polite. If you are being critical you must mention at least one specific error, otherwise your comment will be deleted as unhelpful.