Department: Inteligent Autonomous Systems (IAS)
Project-type: BT (Bachelor Thesis)
Finishing date: 15 April 2019
Supervisor: Dorothea Koert, M.Sc.
Student: Josef Kinold
Since autonomous systems are highly complex, it is desirable to first perform testing and evaluation in safe environments such as physics simulators. Gazebo provides an environment for three-dimensional dynamic simulations of vehicles. The simulator is capable of providing an interface for software-inthe-loop integration, complying with kinematic behaviors, and incorporating sensor simulations in various physics engines.
In this thesis, a simulation model of the ackerman-based car of the project “Autonomous Driving Darmstadt for Students” is developed, including the description of the vehicle, the kinematic behavior,and the simulation models of sensors. Moreover, a path planning module is implemented and connected to the Gazebo simulation. This path planning module is based on a global and local planner, processing costmaps from a map server in a time elastic band algorithm to compute a path.
The resulting simulation provides an environment with predefined maps and automated navigation. In order to fully integrate the simulation into the autonomous system, processing of the simulated vehicle’s state and sensor data is enabled by connecting to the robot operating system interface of Gazebo. The dynamic behavior of the simulated car is evaluated by comparing the behavior of the path planning module to a joystick controlled simulation in different scenarios.
Additionally, the sensors,including a stereo camera, a simulated velodyne laser scanner and a GPS, are tested for different scenarios. Experimental evaluations show that the model behaves similarly to a real car within particular limitations.