In this paper, the advantages of using an object-oriented environment as a tool for general purpose simulation are discussed, emphasising its particular relevance for the simulation of perception and navigation for mobile robots. In this context, an object-oriented mobile robot simulator - MOBILE, designed using Smalltalk, is presented. The flexibility and modularity gained by using an object-oriented design philosophy are illustrated by a simple example consisting of the simulation of a control strategies for a vision-guided mobile platform. The objects for modeling the vehicle, and the on board vision system are presented, as well as the graphical output results, where the simulated vehicle trajectory can be visualized.


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    Title :

    Object-Oriented Approach To Simulation Of Perception And Navigation For Mobile Robots


    Contributors:

    Conference:

    Intelligent Robots and Computer Vision VIII: Systems and Applications ; 1989 ; Philadelphia,PA,United States


    Published in:

    Publication date :

    1990-03-01





    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



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