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Proceedings Paper

Object-Oriented Approach To Simulation Of Perception And Navigation For Mobile Robots
Author(s): J. L. Valente de Oliveira; A. Miguel de Campos; J. Tavora
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Paper 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.

Paper Details

Date Published: 1 March 1990
PDF: 10 pages
Proc. SPIE 1193, Intelligent Robots and Computer Vision VIII: Systems and Applications, (1 March 1990); doi: 10.1117/12.969806
Show Author Affiliations
J. L. Valente de Oliveira, LNETI - Ministry of Industry and Energy (Portugal)
A. Miguel de Campos, LNETI - Ministry of Industry and Energy (Portugal)
J. Tavora, LNETI - Ministry of Industry and Energy (Portugal)

Published in SPIE Proceedings Vol. 1193:
Intelligent Robots and Computer Vision VIII: Systems and Applications
Bruce G. Batchelor, Editor(s)

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