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Micromouse 3D simulator with dynamics capability: a unity environment approach

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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

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