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Network Based Robot Simulator Implementing Uncertainties in Robot Motion and Sensing  

Seo, Dong-Jin (전자부품연구원 지능로보틱스 연구센터)
Ko, Nak-Yong (조선대학교 제어계측로봇공학과)
Jung, Se-Woong (전자부품연구원 지능로보틱스 연구센터)
Lee, Jong-Bae (전자부품연구원 지능로보틱스 연구센터)
Publication Information
The Journal of Korea Robotics Society / v.5, no.1, 2010 , pp. 23-31 More about this Journal
Abstract
This paper suggests a multiple robot simulator which considers the uncertainties in robot motion and sensing. A mobile robot moves with errors due to some kinds of uncertainties from actuators, wheels, electrical components, environments. In addition, sensors attached to a mobile robot can't make accurate output information because of uncertainties of the sensor itself and environment. Uncertainties in robot motion and sensing leads researchers find difficulty in building mobile robot navigation algorithms. Generally, a robot algorithm without considering unexpected uncertainties fails to control its action in a real working environment and it leads to some troubles and damages. Thus, the authors propose a simulator model which includes robot motion and sensing uncertainties to help making robust algorithms. Sensor uncertainties are applied in range sensors which are widely used in mobile robot localization, obstacle detection, and map building. The paper shows performances of the proposed simulator by comparing it with a simulator without any uncertainty.
Keywords
Robot simulator; Motion uncertainty; Sensing uncertainty; Range sensor;
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