AMORsim - A Mobile Robot Simulator for Matlab

Abstract

In the development of mobile robot control algorithms the researchers are often faced with the problem of ensuring safety operation of used mobile robot during the real mobile robot experiment phase. For this reason implemented control algorithms have to be firstly tested in various simulation scenarios. Appropriate simulation tools have to enable easy creation of different simulation setups, usage of different sensors, collection and evaluation of sensor measurements, examination of noise influence, etc. This paper describes a developed simulation tool for such a purpose – AMORsim (Autonomous MObile Robots simulator), a mobile robot simulator that’ s able to simulate a three-wheeled user-defined mobile robot in a two-dimensional environment. It’ s written in Matlab, which is a common, and well-known simulation environment.