Autonomous driving paper index
A COMPARISON OF VEHICLE HANDLING FIDELITY BETWEEN THE GAZEBO AND ANVEL SIMULATORS
One-line summary
<title>ABSTRACT</title> <p>This paper provides a comparison of the Gazebo and ANVEL simulators and analyzes the aspects of vehicle modeling fidelity that are critical to the design of unmanned ground vehicle (UGV) control and estimation algorithms.
Engineering notes
Key topics: autonomous driving, bev, perception, control. See the paper for implementation details and experimental results.
Chinese explanation / 中文解读
中文解读待补充：本站会优先为端到端自动驾驶、BEV感知、3D目标检测、轨迹预测、路径规划、LiDAR感知等高价值论文补充中文说明。
Original abstract
<title>ABSTRACT</title> <p>This paper provides a comparison of the Gazebo and ANVEL simulators and analyzes the aspects of vehicle modeling fidelity that are critical to the design of unmanned ground vehicle (UGV) control and estimation algorithms. The robotic simulators Gazebo [<xref rid="R1" ref-type="bibr">1</xref>], from the Open Source Robotics Foundation (OSRF), and Autonomous Navigation Virtual Environment Laboratory (ANVEL) [<xref rid="R2" ref-type="bibr">2</xref>], from Quantum Signal, are two popular new tools that are being used extensively in academic, commercial, and military development of perception, navigation, and control algorithms for UGVs. Despite the similarities between Gazebo and ANVEL there has been no direct comparison between the two simulators with respect to their validity as vehicle dynamics simulators.</p> <p><bold>Citation:</bold> R. Brothers, D. Bevly, “A Comparison of Vehicle Handling Fidelity Between the Gazebo and ANVEL Simulators”, In <italic>Proceedings of the Ground Vehicle Systems Engineering and Technology Symposium</italic> (GVSETS), NDIA, Novi, MI, Aug. 13-15, 2019.</p>
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