The EyeSim Mobile Robot Simulator

Abstract

EyeSim is a 2D simulator for the EyeBot mobile robot systems. The simulator is implemented as a library, which is linked to the robot application program. It allows the concurrent simulation of multiple robots in the same environment. The simulator integrates the robot console with buttons and LCD; it implements a "v-omega " (linear and angular velocity) driving interface and models a variety of sensors: shaft encoders, bumpers, infra-red proximity sensors, infra-red position sensors, and interfaces to a live color camera. The simulation can be executed in a "perfect " environment or with certain error ranges for individual sensors.