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Survey and comparative study of free simulation software for mobile robots

Published online by Cambridge University Press:  15 July 2014

M. Torres-Torriti ,
T. Arredondo  and
P. Castillo-Pizarro
M. Torres-Torriti*
Affiliation:
Department of Electrical Engineering, Pontificia Universidad Católica de Chile, Santiago, Chile
T. Arredondo
Affiliation:
Department of Electronics, Universidad Técnica Federico Santa María, Valparaiso, Chile
P. Castillo-Pizarro
Affiliation:
Department of Electronics, Universidad Técnica Federico Santa María, Valparaiso, Chile
*
*Corresponding author. E-mail: mtorrest@ing.puc.cl
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Summary

In robotics, simulation has become an essential tool for research, education, and design purposes. Various software tools for mobile robot simulation have been developed and have reached different levels of maturity in recent years. This paper presents a general survey of mobile robot simulation tools and discusses qualitative and quantitative aspects of selection of four major simulators publicly available at no cost: Carmen, Player-Stage-Gazebo, Open Dynamics Engine, and Microsoft Robotics Developer Studio. The comparison of the simulators is aimed at establishing the range of applications for which these are best suited as well as their accuracy for certain simulation tasks. The simulators chosen for detailed comparison were selected considering their level of maturity, modularity, and popularity among engineers and researchers. The qualitative comparison included a discussion of relevant features. The quantitative analysis entailed the development of a detailed dynamical model of a mobile robot on a road with varying slope. This model was used as benchmark to compare the accuracy of each simulator. The validity of the simulated results was also contrasted against measurements obtained from experiments with a real robot. This research and analysis should be very valuable to educators, engineers, and researchers who are always seeking adequate tools for simulating autonomous mobile robots.

Keywords

Mobile robotsSimulation softwareComparative surveyMobile robot dynamicsPhysics engine
Type
Articles
Information
Robotica , Volume 34 , Issue 4 , April 2016 , pp. 791 - 822
Copyright
Copyright © Cambridge University Press 2014 

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