Device Level Simulation of Kurt3D Rescue Robots
نویسندگان
چکیده
USARSIM is a worldwide used robot simulator deployed in Urban Search and Rescue (USAR) and in the context of the RoboCup Rescue Real Robot contest. This paper describes the USARSIM simulator for KURT2 and Kurt3D robot platforms, which we are using in both education and research. As it simulates on the device level, a seamless integration of real robot control software with the simulations becomes possible. We evaluate the performance for simulating laser range scans and the camera system. In addition, we show a simulation of the rescue robots.
منابع مشابه
RoboCupRescue 2006 – Robot League , Deutschland 1 ( Germany )
After scoring second in RoboCup Rescue 2004 with Kurt3D and participating in 2005 with two robots, namely Kurt3D and RTS Crawler, we concentrated on the development of interaction between both vehicles. Kurt3D is able to autonomously explore and map the environment in 3D and search for victims. The RTS Crawler is designed to access more demanding territory (i.e., red arena), working either remo...
متن کاملRoboCupRescue - Robot League Team KURT3D, Germany
A mobile robot named KURT3D was developed at the Fraunhofer Institute for Autonomous Intelligent Systems during the last three years. The key innovation of this system lies in the capability for autonomous or operatorassisted 6D SLAM (simultaneous localization and mapping) and 3D map generation of natural scenes. Hence, KURT3D already meets the basic requirement regarding urban search and rescu...
متن کاملThe RoboCup Rescue Team Deutschland1
The RoboCup Rescue competition aims at boosting research in robots and infrastructure able to help in real rescue missions. The task is to find and report victims in areas of different grades of roughness, which are currently indoor. It challenges to some extreme the mobility of robot platforms as well as the autonomy of their control and sensor interpretation software. In the 2004 competition,...
متن کاملRoboCupRescue - Robot League Team Team Deutschland1 (Germany)
After the second place in RoboCup Rescue 2004, a new version of the mobile robot Kurt3D was developed in our groups during the last year [1]. The key innovation of this system lies in the capability for autonomous or operator-assisted 6D SLAM (simultaneous localization and mapping) and 3D map generation of natural scenes. Hence, Kurt3D already meets the basic requirement regarding urban search ...
متن کاملAbout the Control of High Speed Mobile Indoor Robots
This paper describes the control algorithms of the high speed mobile robot Kurt3D. Kurt3D drives up to 4 m/s autonomously and reliably in an unknown office environment. We present the reliable hardware, fast control cycle algorithms and a novel set value computation scheme for achieving these velocities. In addition we sketch a real-time capable laser based position tracking method that is well...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
عنوان ژورنال:
دوره شماره
صفحات -
تاریخ انتشار 2006