Autopilot simulator prototype for autonomous driving based on SimTwo

The main objective of this work was to develop a control system for an autonomous vehicle that provides autonomous driving. For this, a simulation software, named "SimTwo" was used, where the actuation and sensing model was developed. At the end of the work, a control and 3D visualization system was obtained for an autonomous vehicle capable of driving on a road, avoiding obstacles, alerting in case of danger, among others. The work was developed in a simulation environment and includes a 3D model of a road, with several real scenarios, where the vehicle moves. There are objects on the circuit that can obstruct the passage of the car, creating situations of imminent danger. This system alerts the driver in the event of danger and reacts by deflecting or stopping. This control system uses image sensors and LiDAR (Light Detection And Ranging) as inputs data sources.O principal objetivo deste trabalho foi desenvolver um sistema de controlo de um veículo autónomo que o dote de condução autónoma. Para tal, foi utilizado um software de simulação, SimTwo, onde o modelo de atuação e sensorização foi desenvolvido. No final do trabalho, obteve-se um sistema de controlo e visualização 3D de um veículo autónomo capaz de conduzir numa estrada, desviar de obstáculos, alertar no caso de perigo, entre outros. O trabalho foi desenvolvido num ambiente de simulação e contempla um modelo 3D de uma estrada, com vários cenários reais, onde o veículo se desloca. Existem objetos nas bermas que podem obstruir a passagem do carro, criando situações de perigo eminente. Este alerta no caso de perigo e reage, desviando ou parando. Este sistema de controlo utiliza sensores de imagem e LiDAR (da sigla inglesa "Light Detection And Ranging"), como fontes de informação

An Application Interface for UCHILSIM and the arrival of new challenges

Abstract. UCHILSIM is a robot simulator recently introduced in the RoboCup Four Legged League. A main attractive of the simulator is the possibility of reproducing with accuracy the dynamical behavior of AIBO 1 robots as well as providing good graphical representations of their surroundings on a soccer scenario. Learning over virtual environments can be performed with successful transfers of resulting behaviors to real environments. Previous version of the simulator had a major drawback: Only the UChile1 team could make use of it since the developed system had high dependency on the team code. In this paper we present results of a development work which was envisioned on the first presentation of UCHILSIM; an application interface for allowing any OPEN-R software code to be directly used over the UCHILSIM simulator. The possibility of having this kind of tool opens a great field of developments and challenges since more people will develop OPEN-R software, even without having the robotic hardware but the simulator. Other recent improvements on our simulator are briefly presented here as well.