Development of a Low-Cost High-Fidelity Simulator for Search and Rescue Robot

This paper describes a simulator which is used to study the motion plan of search and rescue robot on bumpy road. The simulator, written in C++, is composed of Newton physics engine system and OGRE based 3D environment. All libraries used are free and the program can be compiled cross-platforms. Virtual sensors such as camera and motor coded disc are developed. Behavior-based programming interface are developed so it is easy to realize and test complex motion plan. This simulator is also a motion virtual guide to robot. Together with the help of data post processing system, difficult climbing task can be finished easily and rapidly in teleoperating way.