Integrated Simulation Workflow for Complex Automated System Design

Raimund Edlinger, Ulrich Mitterhuber, Stefan Dumberger, Dominik Zouhar, Roman Franz Froschauer, Andreas Nüchter

Publikation: Beitrag in Buch/Bericht/TagungsbandKonferenzbeitragBegutachtung


An integrated simulation is a powerful tool for designing complex autonomous systems. Simulation tools allow engineers to model, test, and analyze the behavior of a system before it is built, reducing the risk of errors and increasing the efficiency of the design process.
In this paper, we propose a step-by-step workflow based on the open-source Gazebo simulator to automate mobile working machines, where the interaction with there environment play a decisive role.
In these conditions the normal considerations for autonomous driving may not be sufficient and problems arising in corner cases can easily be overlooked.
To evaluate the workflow, we apply it to the use-case of loading and unloading cargo from a truck using an automated forklift platform.
In particular we show the benefits of implementing control software, before the physical robot is even built and to achieve an optimized sensor selection and sensor coverage for each possible application.
TitelProceedings of the Austrian Robotics Workshop 2023
ISBN (elektronisch)978-3-200-08957-0
PublikationsstatusVeröffentlicht - 30 Apr. 2023