移動ロボット運動シミュレーション
In the process of development a control strategy for mobile robots, simulation is important for testing the robot behaviors and control algorithms when different surrounding environments are considered. In this paper we introduce a simulation environment for mobile robots based on ROS and Gazebo software. Two robot models and an indoor environment are created using Gazebo. 2D and 3D mapping simulations are successfully performed under ROS control. Simulation and experimental results show the usability of the proposed environment.
