Virtual simulation of advanced sensors applied in mobile robotics

• Grant number: 11/19202-7
• Support Opportunities: Scholarships in Brazil - Scientific Initiation
• Effective date (Start): December 01, 2011
• Effective date (End): May 31, 2012
• Field of knowledge: Physical Sciences and Mathematics - Computer Science - Computer Systems
• Principal Investigator: Fernando Santos Osório
• Grantee: Leonardo Milhomem Franco Christino
• Host Institution: Instituto de Ciências Matemáticas e de Computação (ICMC). Universidade de São Paulo (USP). São Carlos , SP, Brazil

Abstract

This project aims to help in the research and development of autonomous and intelligent mobile robots, focused in applications like: (a) security robots for indoor environments; (b) autonomous vehicles for urban spaces or semi-structured environments. These applications are very important in the context of the present research being developed in the field of intelligent robotic. Simulation tools have been largely adopted in the development of intelligent mobile robotic systems, focusing on the modeling and simulation of sensors, actuators and also implementing the physical behaviors of the robots. The virtual simulation tools allow us to develop, test and improve methods and algorithms for control and navigation of mobile robots. Simulation tools are being used to recreate realistic 3D virtual environments and robots, reproducing different important aspects of the real applications. On the other hand, specific robotic devices like GPS and Kinect do not have adequate simulation models available in research platforms like Player-Stage-Gazebo (adopted in our research projects). In order to provide a virtual simulation model of these sensors, this research project proposes to study, model and implement these two devices: GPS and Kinect. These virtual devices should provide data as similar as possible to the data acquired from the real devices. This undergraduate research project aims to contribute to the study and development of intelligent mobile robots control systems, providing simulation tools that can help us in the task of developing and testing our target applications. The results of this project will contribute to the research under development at LRM-ICMC/USP and INCT-SEC. (AU)