A SIMULATION SETUP FOR COMMUNICATION HARDWARE IN THE LOOP EXPERIMENTS

Markus Sauer, Florian Zeiger, Klaus Schilling

2009

Abstract

Simulations are a very powerful tool in robotics to design and verify new algorithms before doing timeconsuming tests with real hardware. Nowadays, a lot of very realistic simulation environments are available to simulate robot kinematics and dynamics and any type of multi-robot systems in a virtual physical environment. Unfortunately, the communication in these simulations is often only considered in a very simplified matter, although the characteristics of a real communication link are very complex and might have a strong influence on the performance of a multi-robot algorithm. This contribution proposes a setup to perform communication hardware in the loop tests with the 3D simulation environment USARSim. For this setup any communication device which can be connected to a PC architecture like WLAN, UMTS or Bluetooth can be used. A cooperative collision avoidance algorithm is presented as an example which is realized with this setup, while real hardware is used for the communication link between the robots. Finally, the limitations are presented.

Paper Citation

in Harvard Style

Sauer M., Zeiger F. and Schilling K. (2009). A SIMULATION SETUP FOR COMMUNICATION HARDWARE IN THE LOOP EXPERIMENTS . In Proceedings of the 6th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO, ISBN 978-989-674-000-9, pages 312-317. DOI: 10.5220/0002218703120317

in Bibtex Style

@conference{icinco09,
author={Markus Sauer and Florian Zeiger and Klaus Schilling},
title={A SIMULATION SETUP FOR COMMUNICATION HARDWARE IN THE LOOP EXPERIMENTS},
booktitle={Proceedings of the 6th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,},
year={2009},
pages={312-317},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0002218703120317},
isbn={978-989-674-000-9},
}

in EndNote Style

TY - CONF
JO - Proceedings of the 6th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,
TI - A SIMULATION SETUP FOR COMMUNICATION HARDWARE IN THE LOOP EXPERIMENTS
SN - 978-989-674-000-9
AU - Sauer M.
AU - Zeiger F.
AU - Schilling K.
PY - 2009
SP - 312
EP - 317
DO - 10.5220/0002218703120317