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

J. L. Valente de Oliveira; A. Miguel de Campos; J. Tavora

doi:10.1117/12.969806

1 March 1990 Object-Oriented Approach To Simulation Of Perception And Navigation For Mobile Robots

J. L. Valente de Oliveira, A. Miguel de Campos, J. Tavora

Proceedings Volume 1193, Intelligent Robots and Computer Vision VIII: Systems and Applications; (1990) https://doi.org/10.1117/12.969806
Event: 1989 Symposium on Visual Communications, Image Processing, and Intelligent Robotics Systems, 1989, Philadelphia, PA, United States

Abstract

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.

Citation Download Citation

J. L. Valente de Oliveira, A. Miguel de Campos, and J. Tavora "Object-Oriented Approach To Simulation Of Perception And Navigation For Mobile Robots", Proc. SPIE 1193, Intelligent Robots and Computer Vision VIII: Systems and Applications, (1 March 1990); https://doi.org/10.1117/12.969806

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