URSim - A Versatile Robot Simulator for Extra-Terrestrial Exploration

摘要

We present URSim, a complete Software-in-the-Loop simulation of robotic systems, specially designed to meet the needs of testing platforms for planetary exploration. By simulating the sensors of a robotic system and providing similar interfaces to the real system, URSim enables developing and continuous testing of high-level software components in various scenarios. URSim is based on the Unreal Engine 4, which offers photo-realistic visual and physics support in real-time. A generic robot interface allows the integration of different robotic systems with various sensors that are simulated in real-time. Its modern and adaptable system architectures make it possible to customize URSim for different setups, frameworks, and modules. To demonstrate URSim and its advances, we simulate different robotic systems, including the Lightweight Rover Unit (LRU), the hexacopter ARDEA and the humanoid robot Rollin’ Justin. We integrate the complete navigation and mapping pipeline of the LRU in URSim and conduct an exploration mission in a simulated Martian and Lunar environment.