🤖 AI Summary
This work addresses the reliability challenges inherent in deploying autonomous mobile robots from simulation to real-world environments by proposing and implementing an end-to-end development and validation framework. Building upon an existing mechatronic platform, the system integrates onboard sensing and computing units to achieve self-localization and autonomous navigation. The complete architecture is first developed and rigorously validated in a high-fidelity simulation environment before being seamlessly transferred to a physical robot. Experimental results demonstrate that the real-world system successfully replicates the performance observed in simulation, thereby confirming the effectiveness and robustness of the proposed approach. These findings substantiate the use of high-fidelity simulation as a trustworthy foundation for robotic development, significantly enhancing deployment efficiency and system credibility.
📝 Abstract
With the rapid development of simulation tools, the development and validation of autonomous robotic systems have become more efficient before real-world deployment. This paper presents a simulation-to-real implementation of an autonomous mobile robot based on an existing mechanical platform. Instead of focusing on mechanical design, our work concentrates on the development of the onboard control, self-localization, and autonomous navigation system. The proposed robot is equipped with onboard sensing and computation to estimate its pose and navigate autonomously in the environment. The overall framework is first developed and tested in simulation, and then deployed on the real robot for experimental evaluation. The results demonstrate the feasibility of the proposed approach and show that simulation provides an effective foundation for developing reliable autonomous mobile robot systems. The source code will be released at https://ntdathp.github.io/outdoor-robot-web.