Tsukuba Challenge Simulator Based on Unreal Engine 4

We developed a mobile robot simulator based on Unreal Engine 4 to help software development of Tsukuba challenge. The simulator simulates a area nearby Tsukuba city hall, wheeled mobile robot with a velodyne VLP-16 lidar and a inertial sensor. Experiments with our two different navigation programs for Tsukuba challenge 2017 and 2018 are shown. Both systems were successfully localized and controlled the simulated mobile robot.