3-D Simulations for Testing and Validating Robotic-Driven Applications for Exploring Lunar Poles

摘要

Due to the embodied nature of a robotic system, it is difficult to test the high level control software without the use of the physical robotic hardware. However, the availability of prototype robotic hardware and representative environments for software testing is often limited. This is particularly acute when the robot is to be deployed in remote planetary environments. The ability is needed to test and validate robotic control software within the design cycle, without requiring the time and effort of full field deployments. Currently, no single simulation system exists which provides both a high quality rendering environment and a means of constructing complex objects and environments. Presented here is a case study of developing a simulation system for testing an arctic robotic sensor node of possible use in the exploration of the lunar poles. In this work we focus on methods for developing visually faithful environments and local hazards, with emphasis on the resulting performance of vision-based robotic algorithms.