Publication

Abstract : This paper introduces a ROS2-based simulation platform using the Gazebo 3D simulator to facilitate the design, testing, and development of multiple mobile robots. In robot development, the prototyping stage is essential for verification of design ideas, testing of algorithms, and the detection of possible design faults prior to physical production. Yet, with the increased interest and developments in mobile robotics, there is still a lack of flexible and easily configurable simulation platforms that can speed up this phase of development. Our proposed platform fills this lack by providing a modular, flexible, and easy-to-use simulation environment specifically designed for mobile robots. It allows researchers and developers to perform realistic simulations, optimize robot behavior, and test performance under different conditions. In this paper, we introduce the design and implementation of the platform, describe the tools and packages incorporated in the system, and illustrate its functionality through a case study on a differential drive mobile robot. Simulation outcomes and performance analyses are also presented in detail.