Unreal as a simulation environment for off-road autonomy

Parker Young; Sam Kysar; Jeremy P. Bos

doi:10.1117/12.2559006

19 May 2020 Unreal as a simulation environment for off-road autonomy

Parker Young, Sam Kysar, Jeremy P. Bos

Proceedings Volume 11415, Autonomous Systems: Sensors, Processing, and Security for Vehicles and Infrastructure 2020; 114150F (2020) https://doi.org/10.1117/12.2559006
Event: SPIE Defense + Commercial Sensing, 2020, Online Only

Abstract

We describe contributions made to the Unreal gaming engine community supporting our development of algorithms that enable navigation in off-road and unstructured environments. Simulation of autonomous ground vehicles traversing complex 3D terrain requires accurate modeling of vehicle-terrain interaction. Widely used community gaming engines model this interaction well but do not include sensor model and other features found in open source tools. We have extended the Unreal engine to include models for LiDARs, IMU, and GNSS systems that are compatible with the Robot Operating System middle-ware. We have also added features that allow for the automated testing of off-road navigation algorithms.

Conference Presentation

Citation Download Citation

Parker Young, Sam Kysar, and Jeremy P. Bos "Unreal as a simulation environment for off-road autonomy", Proc. SPIE 11415, Autonomous Systems: Sensors, Processing, and Security for Vehicles and Infrastructure 2020, 114150F (19 May 2020); https://doi.org/10.1117/12.2559006

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