Collision SimulatorThe simulator shown in Fig. 1. has been initially designed to simulate the differential drive wall follower robot. During further development its functionality has been extended to visualize the exact robot points of collision with an obstacle.
The simulator provides the following functionalities:
- single robot simulation,
- multi-sensors simulation (by default infrared range sensors),
- static and moving obstacles,
- collision and obstacle detection,
- robot path drawing,
- easily extensible graphical user interface.
The flexible graphic user interface allows us to edit robot parameters such as linear velocity and platform dimensions. Obstacle detection sensors (typically infrared sensors) are adjustable in a wide range allowing for the simulations of different sensor faults. Sensor range and radiation cone can be set for each sensor independently. The control panel shown in Fig. 1. gives the possibility to switch on and switch off every sensor during the simulation. A simulator has been design with the idea of indoor application of mobile robots. However, a user has many possibilities of environment model building.
There are included several ready to use static obstacle shapes and possibility to add a limited number of moving obstacles (by default 3). Obstacle position and orientation can be changed during the simulation. User interface allows us to set trajectory tracking of the robot center point.
The program recognizes two types of interaction between a robot and an obstacle:
- obstacle detection by an infrared sensor,
- robot body collision with obstacle surface.
Fig. 1. Control panel of Java mobile robot simulator.