Robotics competitions are increasing in complexity and number
challenging the researchers, roboticists and enthusiastic to address
the robot applications. One of the well-known competition is the micromouse
where the fastest mobile robot to solve a maze is the winner. There
are several topics addressed in this competition such as robot prototyping,
control, electronics, path planning, optimization, among others. A
simulation can be used to speed-up the development and testing algorithms
but faces the gap between the reality in the dynamics behaviour.
In this paper, an open source realistic simulator tool is presented where
the dynamics of the robot, the slippage of the wheels, the friction and the
3D visualization can be found. The complete simulator with the robot
model and an example is available that allow the users to test, implement
and change all the environment. The presented results validate the
proposed simulator.
