Simulator for Teaching Robotics, ROS and Autonomous Driving in a Competitive Mindset

摘要

Interest in robotics field as a teaching tool to promote the STEM areas has grown in the past years. The search for solutions to promote robotics is a major challenge and the use of real robots always increases costs. An alternative is the use of a simulator. The construction of a simulator related with the Portuguese Autonomous Driving Competition using Gazebo as 3D simulator and ROS as a middleware connection to promote, attract, and enthusiasm university students to the mobile robotics challenges is presented. It is intended to take advantage of a competitive mindset to overcome some obstacles that appear to students when designing a real system. The proposed simulator focus on the autonomous driving competition task, such as semaphore recognition, localization, and motion control. An evaluation of the simulator is also performed, leading to an absolute error of 5.11% and a relative error of 2.76% on best case scenarios relating to the odometry tests, an accuracy of 99.37% regarding to the semaphore recognition tests, and an average error of 1.8 pixels for the FOV tests performed.