EXPECTATIONS - an autonomous mobile vehicle simulator

Abstract

This paper describes a fully integrated mobile vehicle simulator - EXPECTATIONS. The structure of the simulator is one of modular and object-oriented, where the virtual environment, static and dynamic objects and their interactions are hierarchically constructed. It supports 2D/3D real-time graphic rendering of the composite environment, which can be visualized on multiple X-windows in a time synchronized manner, in which vehicle or object movement can be animated in accordance with the calculation of the algorithms written in C/C++. Algorithms such as path planning, behavior learning, collision avoidance and navigation strategies can be `plug-and-play' easily through the so called Action Decision Interchange concept. Apart from providing a realistic visualization tool for AMV development, it also supports fast algorithmic study and development, and the knowledge learnt through the simulation may potentially be used by the physical vehicle in real operations.