Publicação
Micromouse 3D simulator with dynamics capability: a unity environment approach
| Resumo: | The micromouse competition has been gaining prominence in the robotic atmosphere, due to the challenging and multidisciplinary characteristics provided by the teams’ duels, being a gateway for those who intend to deepen their studies in autonomous robotics. In this context, this paper presents a realistic micromouse simulator developed with Unity software, a widely game engine with dynamics and 3D development platform used. The developed simulator has hardware-in-the-loop capabilities, aims to be simple to use, it can be customizable, and designed to be as similar as possible to the real robot configurations. In this way, the proposed simulator requires few modifications to port the microcontroller code to a real robot. Therefore, the framework presented in this work allows the user to simulate the development of new algorithm strategies dedicated to competition and also hardware updates. The simulation supports several mazes, from previous competitions and has the possibility to add different mazes elaborated by the user. Thus, the features and functionality of the simulator can serve to accelerate the project’s development of the beginning and advanced competitors, using real models to reduce the gap between the mouse robot behavior in the simulation and the reality. The developed simulation environment is available to the community. © 2021, The Author(s). |
|---|---|
| Autores principais: | Zawadniak, Pedro Victor Fontoura |
| Outros Autores: | Piardi, Luis; Brito, Thadeu; Lima, José; Costa, Pedro; Monteiro, André Luiz Régis; Costa, Paulo Gomes da; Pereira, Ana I. |
| Assunto: | Micromouse Mobile robot Robotics competition Simulation Unity |
| Ano: | 2021 |
| País: | Portugal |
| Tipo de documento: | artigo |
| Tipo de acesso: | acesso aberto |
| Instituição associada: | Universidade Politécnica de Bragança |
| Idioma: | inglês |
| Origem: | Biblioteca Digital da UPB |
| _version_ | 1877782248084733952 |
|---|---|
| author | Zawadniak, Pedro Victor Fontoura |
| author2 | Piardi, Luis Brito, Thadeu Lima, José Costa, Pedro Monteiro, André Luiz Régis Costa, Paulo Gomes da Pereira, Ana I. |
| author2_role | author author author author author author author |
| author_facet | Zawadniak, Pedro Victor Fontoura Piardi, Luis Brito, Thadeu Lima, José Costa, Pedro Monteiro, André Luiz Régis Costa, Paulo Gomes da Pereira, Ana I. |
| author_role | author |
| contributor_name_str_mv | Biblioteca Digital da UPB |
| country_str | PT |
| creators_json_txt | [{\"Person.name\":\"Zawadniak, Pedro Victor Fontoura\"},{\"Person.name\":\"Piardi, Luis\",\"Person.identifier.cienciaID\":\"C51A-82DB-016F\",\"Person.identifier.orcid\":\"0000-0003-1627-8210\"},{\"Person.name\":\"Brito, Thadeu\",\"Person.identifier.cienciaID\":\"C911-A95D-712F\",\"Person.identifier.orcid\":\"0000-0002-5962-0517\",\"Person.identifier.scopusAuthorID\":\"57200694948\"},{\"Person.name\":\"Lima, José\",\"Person.identifier.cienciaID\":\"6016-C902-86A9\",\"Person.identifier.orcid\":\"0000-0001-7902-1207\",\"Person.identifier.researcherID\":\"L-3370-2014\",\"Person.identifier.scopusAuthorID\":\"55851941311\"},{\"Person.name\":\"Costa, Pedro\"},{\"Person.name\":\"Monteiro, André Luiz Régis\"},{\"Person.name\":\"Costa, Paulo Gomes da\"},{\"Person.name\":\"Pereira, Ana I.\",\"Person.identifier.cienciaID\":\"0716-B7C2-93E4\",\"Person.identifier.orcid\":\"0000-0003-3803-2043\",\"Person.identifier.researcherID\":\"F-3168-2010\",\"Person.identifier.scopusAuthorID\":\"15071961600\"}] |
| datacite.contributors.contributor.contributorName.fl_str_mv | Biblioteca Digital da UPB |
| datacite.creators.creator.creatorName.fl_str_mv | Zawadniak, Pedro Victor Fontoura Piardi, Luis Brito, Thadeu Lima, José Costa, Pedro Monteiro, André Luiz Régis Costa, Paulo Gomes da Pereira, Ana I. |
| datacite.date.Accepted.fl_str_mv | 2021-01-01T00:00:00Z |
| datacite.date.available.fl_str_mv | 2023-03-02T15:11:12Z |
| datacite.date.embargoed.fl_str_mv | 2023-03-02T15:11:12Z |
| datacite.rights.fl_str_mv | http://purl.org/coar/access_right/c_abf2 |
| datacite.subjects.subject.fl_str_mv | Micromouse Mobile robot Robotics competition Simulation Unity |
| datacite.titles.title.fl_str_mv | Micromouse 3D simulator with dynamics capability: a unity environment approach |
| dc.contributor.none.fl_str_mv | Biblioteca Digital da UPB |
| dc.creator.none.fl_str_mv | Zawadniak, Pedro Victor Fontoura Piardi, Luis Brito, Thadeu Lima, José Costa, Pedro Monteiro, André Luiz Régis Costa, Paulo Gomes da Pereira, Ana I. |
| dc.date.Accepted.fl_str_mv | 2021-01-01T00:00:00Z |
| dc.date.available.fl_str_mv | 2023-03-02T15:11:12Z |
| dc.date.embargoed.fl_str_mv | 2023-03-02T15:11:12Z |
| dc.format.none.fl_str_mv | application/pdf |
| dc.identifier.none.fl_str_mv | http://hdl.handle.net/10198/27410 |
| dc.language.none.fl_str_mv | eng |
| dc.rights.cclincense.fl_str_mv | http://creativecommons.org/licenses/by/4.0/ |
| dc.rights.none.fl_str_mv | http://purl.org/coar/access_right/c_abf2 |
| dc.subject.none.fl_str_mv | Micromouse Mobile robot Robotics competition Simulation Unity |
| dc.title.fl_str_mv | Micromouse 3D simulator with dynamics capability: a unity environment approach |
| dc.type.none.fl_str_mv | http://purl.org/coar/resource_type/c_6501 |
| description | The micromouse competition has been gaining prominence in the robotic atmosphere, due to the challenging and multidisciplinary characteristics provided by the teams’ duels, being a gateway for those who intend to deepen their studies in autonomous robotics. In this context, this paper presents a realistic micromouse simulator developed with Unity software, a widely game engine with dynamics and 3D development platform used. The developed simulator has hardware-in-the-loop capabilities, aims to be simple to use, it can be customizable, and designed to be as similar as possible to the real robot configurations. In this way, the proposed simulator requires few modifications to port the microcontroller code to a real robot. Therefore, the framework presented in this work allows the user to simulate the development of new algorithm strategies dedicated to competition and also hardware updates. The simulation supports several mazes, from previous competitions and has the possibility to add different mazes elaborated by the user. Thus, the features and functionality of the simulator can serve to accelerate the project’s development of the beginning and advanced competitors, using real models to reduce the gap between the mouse robot behavior in the simulation and the reality. The developed simulation environment is available to the community. © 2021, The Author(s). |
| dirty | 0 |
| eu_rights_str_mv | openAccess |
| format | article |
| fulltext.url.fl_str_mv | https://bibliotecadigital.unipb.pt/bitstreams/257e2e44-05a3-48a2-8ce5-ada0574b27f9/download |
| funder_facet_str_mv | FCT{{{_:::_}}}Fundação para a Ciência e a Tecnologia FCT{{{_:::_}}}Fundação para a Ciência e a Tecnologia |
| funding.funder.alternateName_str_mv | FCT FCT |
| funding.funder.identifier_str_mv | http://doi.org/10.13039/501100001871 http://doi.org/10.13039/501100001871 |
| funding.funder.name_str_mv | Fundação para a Ciência e a Tecnologia Fundação para a Ciência e a Tecnologia |
| funding.identifier_str_mv | UIDB/05757/2020 UIDB/50014/2020 |
| funding.name_str_mv | 6817 - DCRRNI ID 6817 - DCRRNI ID |
| funding_str_mv | UIDB/05757/2020 info:eu-repo/grantAgreement/FCT/6817 - DCRRNI ID/UIDB%2F05757%2F2020/PT UIDB/50014/2020 info:eu-repo/grantAgreement/FCT/6817 - DCRRNI ID/UIDB%2F50014%2F2020/PT |
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| identifier.url.fl_str_mv | http://hdl.handle.net/10198/27410 |
| inst_facet_str | urn:organizationAcronym:unipb{{{_:::_}}}Universidade Politécnica de Bragança |
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| institution | Universidade Politécnica de Bragança |
| instname_str | Universidade Politécnica de Bragança |
| language | eng |
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| person_str_mv | Zawadniak, Pedro Victor Fontoura Piardi, Luis Piardi, Luis https://www.ciencia-id.pt/C51A-82DB-016F C51A-82DB-016F http://orcid.org/0000-0003-1627-8210 0000-0003-1627-8210 Brito, Thadeu Brito, Thadeu https://www.ciencia-id.pt/C911-A95D-712F C911-A95D-712F http://orcid.org/0000-0002-5962-0517 0000-0002-5962-0517 Lima, José Lima, José https://www.ciencia-id.pt/6016-C902-86A9 6016-C902-86A9 http://orcid.org/0000-0001-7902-1207 0000-0001-7902-1207 Costa, Pedro Monteiro, André Luiz Régis Costa, Paulo Gomes da Pereira, Ana I. Pereira, Ana I. https://www.ciencia-id.pt/0716-B7C2-93E4 0716-B7C2-93E4 http://orcid.org/0000-0003-3803-2043 0000-0003-3803-2043 |
| publishDate | 2021 |
| repo_facet_str | urn:repositoryAcronym:ipb{{{_:::_}}}Biblioteca Digital da UPB |
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| spelling | engpt_PTThe micromouse competition has been gaining prominence in the robotic atmosphere, due to the challenging and multidisciplinary characteristics provided by the teams’ duels, being a gateway for those who intend to deepen their studies in autonomous robotics. In this context, this paper presents a realistic micromouse simulator developed with Unity software, a widely game engine with dynamics and 3D development platform used. The developed simulator has hardware-in-the-loop capabilities, aims to be simple to use, it can be customizable, and designed to be as similar as possible to the real robot configurations. In this way, the proposed simulator requires few modifications to port the microcontroller code to a real robot. Therefore, the framework presented in this work allows the user to simulate the development of new algorithm strategies dedicated to competition and also hardware updates. The simulation supports several mazes, from previous competitions and has the possibility to add different mazes elaborated by the user. Thus, the features and functionality of the simulator can serve to accelerate the project’s development of the beginning and advanced competitors, using real models to reduce the gap between the mouse robot behavior in the simulation and the reality. The developed simulation environment is available to the community. © 2021, The Author(s).application/pdfpt_PTMicromouse 3D simulator with dynamics capability: a unity environment approachZawadniak, Pedro Victor FontouraPersonalPiardi, LuisDSpacehttp://dspace.org/items/643e9664-ec9b-4b2f-b93c-6f3f8335fd61DSpacehttp://dspace.org/items/643e9664-ec9b-4b2f-b93c-6f3f8335fd61PiardiLuísCiência IDhttps://www.ciencia-id.ptC51A-82DB-016FORCIDhttp://orcid.org0000-0003-1627-8210PersonalBrito, ThadeuDSpacehttp://dspace.org/items/c8641c9a-a994-4ab2-836d-c758c0e44cc9DSpacehttp://dspace.org/items/c8641c9a-a994-4ab2-836d-c758c0e44cc9BritoThadeuCiência IDhttps://www.ciencia-id.ptC911-A95D-712FORCIDhttp://orcid.org0000-0002-5962-0517Scopus Author IDhttps://www.scopus.com57200694948PersonalLima, JoséDSpacehttp://dspace.org/items/d88c2b2a-efc2-48ef-b1fd-1145475e0055DSpacehttp://dspace.org/items/d88c2b2a-efc2-48ef-b1fd-1145475e0055LimaJoséCiência IDhttps://www.ciencia-id.pt6016-C902-86A9ORCIDhttp://orcid.org0000-0001-7902-1207Researcher IDhttps://www.researcherid.comL-3370-2014Scopus Author IDhttps://www.scopus.com55851941311Costa, PedroMonteiro, André Luiz RégisCosta, Paulo Gomes daPersonalPereira, Ana I.DSpacehttp://dspace.org/items/e9981d62-2a2b-4fef-b75e-c2a14b0e7846DSpacehttp://dspace.org/items/e9981d62-2a2b-4fef-b75e-c2a14b0e7846PereiraAna I.Ciência IDhttps://www.ciencia-id.pt0716-B7C2-93E4ORCIDhttp://orcid.org0000-0003-3803-2043Researcher IDhttps://www.researcherid.comF-3168-2010Scopus Author IDhttps://www.scopus.com15071961600HostingInstitutionOrganizationalBiblioteca Digital da UPBe-mailmailto:dspace@unipb.ptdspace@unipb.ptISSNIsPartOf2523-3971DOIIsPartOf10.1007/s42452-021-04239-72023-03-02T15:11:12Z20212021-01-01T00:00:00ZHandlehttp://hdl.handle.net/10198/27410http://purl.org/coar/access_right/c_abf2open accessMicromouseMobile robotRobotics competitionSimulationUnity1688129 bytesFundação para a Ciência e a TecnologiaResearch Centre in Digitalization and Intelligent Roboticsinfo:eu-repo/grantAgreement/FCT/6817 - DCRRNI ID/UIDB%2F05757%2F2020/PTUIDB/05757/20206817 - DCRRNI IDCrossref Funder IDhttp://doi.org/10.13039/501100001871Fundação para a Ciência e a TecnologiaINESC TEC- Institute for Systems and Computer Engineering, Technology and Scienceinfo:eu-repo/grantAgreement/FCT/6817 - DCRRNI ID/UIDB%2F50014%2F2020/PTUIDB/50014/20206817 - DCRRNI IDCrossref Funder IDhttp://doi.org/10.13039/501100001871literaturehttp://purl.org/coar/resource_type/c_6501journal article2021http://creativecommons.org/licenses/by/4.0/http://purl.org/coar/access_right/c_abf2application/pdffulltexthttps://bibliotecadigital.unipb.pt/bitstreams/257e2e44-05a3-48a2-8ce5-ada0574b27f9/downloadSN Applied Sciences32 |
| spellingShingle | Micromouse 3D simulator with dynamics capability: a unity environment approach Zawadniak, Pedro Victor Fontoura Micromouse Mobile robot Robotics competition Simulation Unity |
| status | SINGLETON |
| subject.fl_str_mv | Micromouse Mobile robot Robotics competition Simulation Unity |
| title | Micromouse 3D simulator with dynamics capability: a unity environment approach |
| title_full | Micromouse 3D simulator with dynamics capability: a unity environment approach |
| title_fullStr | Micromouse 3D simulator with dynamics capability: a unity environment approach |
| title_full_unstemmed | Micromouse 3D simulator with dynamics capability: a unity environment approach |
| title_short | Micromouse 3D simulator with dynamics capability: a unity environment approach |
| title_sort | Micromouse 3D simulator with dynamics capability: a unity environment approach |
| topic | Micromouse Mobile robot Robotics competition Simulation Unity |
| topic_facet | Micromouse Mobile robot Robotics competition Simulation Unity |
| url | http://hdl.handle.net/10198/27410 |
| visible | 1 |