書誌事項
- タイトル別名
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- Development of a Simulator of Environment and Measurement for Multiple Autonomous Mobile Robots Considering Camera Characteristics
- カメラ トクセイ オ コウリョ シタ フクスウ ジリツ イドウ ロボット ノ タメ ノ カンキョウ ケイソク シミュレータ ノ カイハツ
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抄録
In this paper, a simulator of environment and measurement that considers camera characteristics is developed for multiple autonomous mobile robots. RoboCup 4-legged robot league is chosen as the concrete target. The simulator introduces a sever/client system, and realizes separation of each robot's information, introduction of each robot's difference and distribution of processes. OpenGL is utilized to produce virtual images. So as to make a simulator reflect real environment, sensing noises should be considered. The simulator considers the effects of blur, element noises, vignetting, lens distortion and delayed exposure for each line of the CMOS image sensor. Experiments show the similarity between actual camera images and simulated camera images. Consequently, it is possible to verify programs for multiple autonomous mobile robots on the simulator, and therefore the proposed simulator is a useful tool for effective development of algorithms.
収録刊行物
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- 日本ロボット学会誌
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日本ロボット学会誌 23 (7), 878-885, 2005
一般社団法人 日本ロボット学会
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詳細情報 詳細情報について
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- CRID
- 1390001204725706752
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- NII論文ID
- 130000848545
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- NII書誌ID
- AN00141189
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- ISSN
- 18847145
- 02891824
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- NDL書誌ID
- 7705575
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- 本文言語コード
- ja
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- データソース種別
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- JaLC
- NDL
- Crossref
- CiNii Articles
- KAKEN
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- 抄録ライセンスフラグ
- 使用不可