Application-Independent Localization Based on 3D Simulation Technology

Mobile robots are recognized as being essential for the examination of hazardous areas and dangerous places like disaster areas, underground mining and extraterrestrial environments. In this paper we introduce an application-independent approach for self-localization of mobile robots. The idea was firstly implemented and optimized for forestry environments, only. A generalization of the concept led to a highly modular framework that is adaptable to a multitude of new domains. The framework is based on 3d-simulation technology and benefits from latest developments in this domain like hybrid testbeds. This testbed approach allows for the integration of real and simulated sensors in virtual and real testbeds for a smooth transition between simulation and real world tests. Introducing virtual sensors, algorithmic results can be treated as ordinary sensor information and therefore seamlessly addressed by the sensor framework.