Simulation of robot localization based on virtual sensors

A flexible simulation frame based on concept of component is presented. An indoor robots localization simulation environment based on virtual sensors RoboSimer is built with OpenGL. The parameters here are easily adjusted and controlled by customs and the simulation module is easy to integrate. It can integrate any sensors, environment and robot shape into the simulation software. The interfaces of simulation software are coincided with the real hardware platform. It provides a convenient condition for the further study on robot localization.