论文标题
设计并实施增强的模拟器，以进行自主交付机器人
Design and Implement an Enhanced Simulator for Autonomous Delivery Robot
论文作者
论文摘要
随着自动驾驶技术如今越来越成熟，星际飞船，大理石和Nuro等自主送货公司一直在测试其自主送货机器人。虽然模拟和模拟器对于自动交付机器人的最终产品登陆非常重要，因为自动交付机器人需要在人行道，校园和其他城市场景上进行导航，在这种情况下，模拟可以避免对任何算法失败和编程错误和编程错误并降低整个过程并降低整个过程的现实世界中的行人和财产的真正损害。在这种情况下，本研究提出了一个基于我们自主递送机器人斑马的开源模拟器，以加速自主分娩的研究。逐步说明了模拟器开发过程。此外，还引入了我们正在处理的模拟器上的应用程序，其中包括模拟城市环境中的自主导航，自动驾驶汽车和自主交付机器人之间的合作以及模拟器中任务培训的增强学习实践。我们已经在Github发表了拟议的模拟器。
As autonomous driving technology is getting more and more mature today, autonomous delivery companies like Starship, Marble, and Nuro has been making progress in the tests of their autonomous delivery robots. While simulations and simulators are very important for the final product landing of the autonomous delivery robots since the autonomous delivery robots need to navigate on the sidewalk, campus, and other urban scenarios, where the simulations can avoid real damage to pedestrians and properties in the real world caused by any algorithm failures and programming errors and thus accelerate the whole developing procedure and cut down the cost. In this case, this study proposes an open-source simulator based on our autonomous delivery robot ZebraT to accelerate the research on autonomous delivery. The simulator developing procedure is illustrated step by step. What is more, the applications on the simulator that we are working on are also introduced, which includes autonomous navigation in the simulated urban environment, cooperation between an autonomous vehicle and an autonomous delivery robot, and reinforcement learning practice on the task training in the simulator. We have published the proposed simulator in Github.
