SIMULATION OF REAL-TIME ROBOT CONTROL SYSTEMS USING PLAYER/STAGE SOFTWARE

摘要

Simulations are widely used in the robotics field as useful tools that provide reasonable methods for verifying various aspects of developed device, such as the control system behaviour testing. However simulated results almost always differ from real world experiments because of combination of various aspects such as sensor perception noises, inaccuracy of actuators or faults of control logics. This paper addresses well known simulation related problem in context of the real-time enabled control systems and proposes the possible approach for improving simulated results that is based on the open-source Player/Stage software package and it follows principles of separation of the control logics from the simulation core calculations.