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Where Am I? A Simulated GPS Sensor for Outdoor Robotic Applications

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Simulation, Modeling, and Programming for Autonomous Robots (SIMPAR 2008)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 5325))


Advances in the field of robotic simulations in general and the complexity of virtual outdoor environments in particular have created a demand for accurate simulated open-air localization devices. In this paper, we answer this request by presenting the implementation of a simulated Global Positioning System receiver for the popular USARSim platform. The engineering tradeoff of speed versus accuracy is encountered throughout the design process and discussed comprehensively in the paper. Along the lines of a validation methodology we developed in recent years, the simulated sensor is implemented and extensively analyzed in a real/simulated scenario, where data logged from a real robot is evaluated against the data acquired in simulation.

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© 2008 Springer-Verlag Berlin Heidelberg

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Balaguer, B., Carpin, S. (2008). Where Am I? A Simulated GPS Sensor for Outdoor Robotic Applications. In: Carpin, S., Noda, I., Pagello, E., Reggiani, M., von Stryk, O. (eds) Simulation, Modeling, and Programming for Autonomous Robots. SIMPAR 2008. Lecture Notes in Computer Science(), vol 5325. Springer, Berlin, Heidelberg.

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  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-89075-1

  • Online ISBN: 978-3-540-89076-8

  • eBook Packages: Computer ScienceComputer Science (R0)

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