Using Flat4: a Distributed 2D Robot Simulator with Sonar and Laser Sensors

Overview

Flat4 evolved from the original Flat. We fixed many problems with the robot simulation and removed all code except the robot and sensor simulators. Flat4 now has a correct model of time and both sonar and laser simulators.

The control laws that govern the robot's behavior are no longer part of Flat. The user's controller runs separately and sends commands to Flat via a TCP connection.

In addition, the old Gdraw-based display has been scrapped and replaced by a Java program that runs separately from Flat.

Major changes:

Flat is now configured using a configuration file.
Flat can now use different maps during a session as specified in a Flat World file.
The simulation model is now correct.
Control laws contact Flat through a control interface.
Flat can now simulate one or two laser rangefinders.
Flat has a new display
The LaserShow program can replay laser data saved from Flat.

Documentation

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Author: Micheal S. Hewett
Email: hewett@cs.utexas.edu
Last Updated: Monday, February 15, 1999