Abstract
Computer simulation is an effective means for the research of robot navigation algorithms. In order to implement real-time, three-dimensional, and visual navigation algorithm simulation, a method of algorithm simulation based on secondary development of Unity3D is proposed. With this method, a virtual robot prototype can be created quickly with the imported 3D robot model, virtual joints, and virtual sensors, and then the navigation simulation can be carried out using the virtual prototype with the algorithm script in the virtual environment. Firstly, the scripts of the virtual revolute joint, virtual LiDAR sensors, and terrain environment are written. Secondly, the A* algorithm is improved for navigation in unknown 3D space. Thirdly, taking the Mecanum wheel mobile robot as an example, the 3D robot model is imported into Unity3D, and the virtual joint, sensor, and navigation algorithm scripts are added to the model. Then, the navigation is simulated in static and dynamic environments using a virtual prototype. Finally, the navigation tests of the physical robot are carried out in the physical environment, and the test trajectory is compared with the simulation trajectory. The simulation and test results validate the algorithm simulation method based on the redevelopment of Unity3d, showing that it is feasible, efficient, and flexible.
Highlights
Navigation is one of the most challenging competencies required of an autonomous mobile robot (AMR)
Taking the Mecanum wheel mobile robot as an example, the 3D robot model is imported into Unity3D, and the virtual joint, sensor, and navigation algorithm scripts are added to the model
The research interest of this paper is to propose a new method of navigation algorithm simulation in Unity3D, the research focus is not on the algorithm itself
Summary
Navigation is one of the most challenging competencies required of an autonomous mobile robot (AMR). By taking advantage of Unity as a simulation platform, the toolkit enables the development of learning environments which are rich in sensory and physical complexity, provide compelling cognitive challenges and supporting dynamic multi-agent interactions [46]. Since Unity3D has many advantages mentioned above, it is a good idea to implement the navigation algorithm simulating autonomous mobile robots, taking advantage of the realistic interactions between the robot and all the other elements of the environment that Unity3D provides.
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