UnrealNavigation: Simulation Software for testing SLAM in Virtual Reality

摘要

We present UnrealNavigation; an integrated software platform for testing Simultaneous Localization and Mapping (SLAM) algorithms for autonomous robotic navigation. The frame- work, which is part of a Virtual Reality simulation in space environments is designed to allow rapid testing of autonomous navigation algorithm components. The architecture is designed with a plug-and-play style adaptability in mind, allowing for a wide range of uses and rapid development. Two approaches to SLAM will be demonstrated in the novel simulation frame- work, utilizing a game development engine, Unreal, connected by the Robotic Operating System (ROS). Comparison of these two algorithms was enabled through the simulation framework created. The different approaches authenticate the ability to integrate a holistic algorithm system or separate components into the framework.