Evolution of Robotic Simulators: Using UE 4 to Enable Real-World Quality Testing of Complex Autonomous Robots in Unstructured Environments

Patrick Wolf, Tobias Groll, Steffen Hemer, Karsten Berns

Abstract

Robotic simulators are essential for control development since they allow early testing. Additionally, trial time is tremendously reduced in comparison to a real system. In the recent past, many powerful simulation systems emerged, offering a high quality and level of realism. Still, those simulators have some shortcomings concerning the development of complex commercial vehicles that regularly operate within extremely cluttered and unstructured environments. This paper aims to reduce the gap occurring during the simulation and real-world testing to increase the expressiveness of robot control software tests.

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