Simulator

Project: Configure simulator.

Elcano is designed to be compatible with the USARsim simulator (http://sourceforge.net/projects/usarsim/), which is a mod to the Unreal Tournament game. The Arda map is a road robot simulator. In both the vehicle and the simulator, the link from the AI to the low level control is a text string giving wheel rotation rate and steering angle.

ARDA

Unfortunately, USARsim no longer works on current computers, and the Elcano simulation project has been postponed until we can find a suitable simulator.

The high-level AI is designed to send the following serial command to the low-level control or simulator:

DRIVE {Speed ComandedSpinSpeed} {FrontSteer ComandedSteerAngle}

Example: DRIVE {Speed 2.59}{FrontSteer 0.0138}

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