Validating a simulation of a single ray based laser scanner used in mobile robot applications

Abstract

Digital prototypes and simulation technologies are widely used in the development of new technical systems. They allow cost- and time-efficient tests in all stages of development. Sensor simulation is an important aspect in many simulation scenarios dealing with robotics. This paper focuses on the validation process of a newly developed single ray based laser scanner simulation and provides an insight into the accelerated development processes through the use of virtual testbeds. The work is motivated by the development of a localization unit for an exploration rover containing a space qualified laser scanner.