Simulation of a group of rangefinders adapted to alterations of measurement angle

Abstract

As part of the National Research Nuclear University of National Research Nuclear University MEPhI (MEPhI) at the Department of Computer Systems and Technologies working laboratory “Robotics.” University teachers and laboratory staff implement a training program for master’s program “Computer technology in robotics.” Undergraduates and graduate students conduct laboratory research and development in several promising areas in robotics. One of the methodologies that are actively used in carrying out dissertation research is the modeling of advanced hardware and software systems, robotics. This article presents the results of such a study. The purpose of this article is to simulate a sensor comprised of a group of laser rangefinders. The rangefinders should be simulated according to the following principle. Beams will originate from one point though with a deviation from normal, providing thereby simultaneous scanning of different points. The data obtained in our virtual test room should be used to indicate an average distance from the device to obstacles for all the four sensors in real time. By leveling the divergence angle of the beams we can simulate different kinds of rangefinders (laser and ultrasonic ones). By adjusting noise parameters we can achieve results similar to those of real models (rangefinders), and obtain a surface map displaying irregularities. We should use a model of an aircraft (quadcopter) as a device to install the sensor. In the article we made an overview of works on rangefinder simulation undertaken at institutions around the world and performed tests. The article draws a conclusion about the relevance of the suggested approach, the methods used, necessity and feasibility of further research in this area.