Device Level Simulation of Kurt3D Rescue Robots

Sven Albrecht, Joachim Hertzberg, Kai Lingemann, Andreas Nüchter, Jochen Sprickerhof, Stefan Stiene
University of Osnabrück
Institute for Computer Science
Knowledge-Based Systems Research Group
Albrechtstraße 28
D-49069 Osnabrück, Germany
http://plum.eecs.jacobs-university.de/download/UOSSim/index.html

Abstract:

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.