TY - JOUR
T1 - Navigation simulation of a mecanum wheel mobile robot based on an improved A* Algorithm in unity3D
AU - Li, Yunwang
AU - Dai, Sumei
AU - Shi, Yong
AU - Zhao, Lala
AU - Ding, Minghua
N1 - Publisher Copyright:
© 2019 by the authors. Licensee MDPI, Basel, Switzerland.
PY - 2019/7/1
Y1 - 2019/7/1
N2 - Computer simulation is an effective means for the research of robot navigation algorithms. In order to implement real-time, three-dimensional, and visual navigation algorithm simulation, a method of algorithm simulation based on secondary development of Unity3D is proposed. With this method, a virtual robot prototype can be created quickly with the imported 3D robot model, virtual joints, and virtual sensors, and then the navigation simulation can be carried out using the virtual prototype with the algorithm script in the virtual environment. Firstly, the scripts of the virtual revolute joint, virtual LiDAR sensors, and terrain environment are written. Secondly, the A* algorithm is improved for navigation in unknown 3D space. Thirdly, taking the Mecanum wheel mobile robot as an example, the 3D robot model is imported into Unity3D, and the virtual joint, sensor, and navigation algorithm scripts are added to the model. Then, the navigation is simulated in static and dynamic environments using a virtual prototype. Finally, the navigation tests of the physical robot are carried out in the physical environment, and the test trajectory is compared with the simulation trajectory. The simulation and test results validate the algorithm simulation method based on the redevelopment of Unity3d, showing that it is feasible, efficient, and flexible.
AB - Computer simulation is an effective means for the research of robot navigation algorithms. In order to implement real-time, three-dimensional, and visual navigation algorithm simulation, a method of algorithm simulation based on secondary development of Unity3D is proposed. With this method, a virtual robot prototype can be created quickly with the imported 3D robot model, virtual joints, and virtual sensors, and then the navigation simulation can be carried out using the virtual prototype with the algorithm script in the virtual environment. Firstly, the scripts of the virtual revolute joint, virtual LiDAR sensors, and terrain environment are written. Secondly, the A* algorithm is improved for navigation in unknown 3D space. Thirdly, taking the Mecanum wheel mobile robot as an example, the 3D robot model is imported into Unity3D, and the virtual joint, sensor, and navigation algorithm scripts are added to the model. Then, the navigation is simulated in static and dynamic environments using a virtual prototype. Finally, the navigation tests of the physical robot are carried out in the physical environment, and the test trajectory is compared with the simulation trajectory. The simulation and test results validate the algorithm simulation method based on the redevelopment of Unity3d, showing that it is feasible, efficient, and flexible.
KW - Mecanum wheel robot
KW - Navigation simulation
KW - Path planning
KW - Unity3D
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U2 - 10.3390/s19132976
DO - 10.3390/s19132976
M3 - Article
C2 - 31284498
AN - SCOPUS:85069710651
SN - 1424-8220
VL - 19
JO - Sensors (Switzerland)
JF - Sensors (Switzerland)
IS - 13
M1 - 2976
ER -