Realistic simulation of laser range finder behavior in a smoky environment

Authors:
Okke Formsma;Nick Dijkshoorn;Sander van Noort;Arnoud Visser
Affiliations:
Intelligent Systems Laboratory Amsterdam, Universiteit van Amsterdam, Amsterdam, The Netherlands;Intelligent Systems Laboratory Amsterdam, Universiteit van Amsterdam, Amsterdam, The Netherlands;Intelligent Systems Laboratory Amsterdam, Universiteit van Amsterdam, Amsterdam, The Netherlands;Intelligent Systems Laboratory Amsterdam, Universiteit van Amsterdam, Amsterdam, The Netherlands
Venue:
RoboCup 2010
Year:
2011

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Abstract

The Urban Search and Rescue Simulation used for RoboCup lacks realistic response of laser range finders on smoke. In this paper, the behavior of a Hokuyo and Sick laser range finder in a smoky environment is studied. The behavior of the lasers is among others a function of the visibility level, and in this article this function is quantified into an explicit model. This model is implemented in a simulation environment which is the basis of the Virtual Robot competition of the RoboCup Rescue League. The behavior of both real and virtual laser range finders is compared in a number of validation tests. The validation tests show that the behavior of the laser range finders in the simulation is consistent with the real world.