Dispatching multiple robots in a urban environment
Performing verification and validation on robots is necessary to ensure they behave appropriately and safely. However, conducting such tests is labor-intensive and costly. Recent studies show that simulation-based testing for the verification and validation of robotic systems may be a less time-c...
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| Format: | Final Year Project (FYP) |
| Language: | English |
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Nanyang Technological University
2022
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| Online Access: | https://hdl.handle.net/10356/156522 |
| _version_ | 1811696075444060160 |
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| author | Tai, Wilson Wei Shen |
| author2 | Tang Xueyan |
| author_facet | Tang Xueyan Tai, Wilson Wei Shen |
| author_sort | Tai, Wilson Wei Shen |
| collection | NTU |
| description | Performing verification and validation on robots is necessary to ensure they behave
appropriately and safely. However, conducting such tests is labor-intensive and
costly. Recent studies show that simulation-based testing for the verification and
validation of robotic systems may be a less time-consuming, more economical, and
more scalable alternative to testing in the field. Despite the advantages, field testing
remains the dominant approach due to 3 main reasons: reality gaps, complexity, and
lack of capability. This report aims to address the concerns by developing a realistic
simulator by combining Gazebo, a 3D dynamic simulator that is capable of
simulating robots in an outdoor complex environment, ROS, an open-source robotics
framework able to support the reuse of code, allowing the code used in the virtual
robot to be the same as the one used in a real robot, and open street maps, which
extracts real-world geographical data to construct the virtual world. With the use of
a Docker image, users can run the simulation independently without any dependency
or compilation problems. The simulator has a RESTful API, that allows the user to
interact with the simulator through the use of HTTP requests. This results in a
realistic, simple to use, and with all the capabilities the user requires to accurately
and effectively simulate the dispatching algorithm. |
| first_indexed | 2024-10-01T07:33:36Z |
| format | Final Year Project (FYP) |
| id | ntu-10356/156522 |
| institution | Nanyang Technological University |
| language | English |
| last_indexed | 2024-10-01T07:33:36Z |
| publishDate | 2022 |
| publisher | Nanyang Technological University |
| record_format | dspace |
| spelling | ntu-10356/1565222022-04-20T07:38:03Z Dispatching multiple robots in a urban environment Tai, Wilson Wei Shen Tang Xueyan School of Computer Science and Engineering ASXYTang@ntu.edu.sg Engineering::Computer science and engineering Performing verification and validation on robots is necessary to ensure they behave appropriately and safely. However, conducting such tests is labor-intensive and costly. Recent studies show that simulation-based testing for the verification and validation of robotic systems may be a less time-consuming, more economical, and more scalable alternative to testing in the field. Despite the advantages, field testing remains the dominant approach due to 3 main reasons: reality gaps, complexity, and lack of capability. This report aims to address the concerns by developing a realistic simulator by combining Gazebo, a 3D dynamic simulator that is capable of simulating robots in an outdoor complex environment, ROS, an open-source robotics framework able to support the reuse of code, allowing the code used in the virtual robot to be the same as the one used in a real robot, and open street maps, which extracts real-world geographical data to construct the virtual world. With the use of a Docker image, users can run the simulation independently without any dependency or compilation problems. The simulator has a RESTful API, that allows the user to interact with the simulator through the use of HTTP requests. This results in a realistic, simple to use, and with all the capabilities the user requires to accurately and effectively simulate the dispatching algorithm. Bachelor of Engineering (Computer Science) 2022-04-20T07:38:03Z 2022-04-20T07:38:03Z 2022 Final Year Project (FYP) Tai, W. W. S. (2022). Dispatching multiple robots in a urban environment. Final Year Project (FYP), Nanyang Technological University, Singapore. https://hdl.handle.net/10356/156522 https://hdl.handle.net/10356/156522 en SCSE21-0112 application/pdf Nanyang Technological University |
| spellingShingle | Engineering::Computer science and engineering Tai, Wilson Wei Shen Dispatching multiple robots in a urban environment |
| title | Dispatching multiple robots in a urban environment |
| title_full | Dispatching multiple robots in a urban environment |
| title_fullStr | Dispatching multiple robots in a urban environment |
| title_full_unstemmed | Dispatching multiple robots in a urban environment |
| title_short | Dispatching multiple robots in a urban environment |
| title_sort | dispatching multiple robots in a urban environment |
| topic | Engineering::Computer science and engineering |
| url | https://hdl.handle.net/10356/156522 |
| work_keys_str_mv | AT taiwilsonweishen dispatchingmultiplerobotsinaurbanenvironment |