Simulation Model of a Time of Flight Distance Sensor Using SimTwo

This paper presents a simulation model of a Time of Flight distance sensor applying SimTwo robotics simulator in order to contribute to a mobile robotics application, in an educational context. The objective is to observe the sensor behavior, inside the simulation environment, face a set of experiments, such as an abrupt difference of distance, several angle inclinations and measurements to the maximum sensor range. The tests were performed using SimTwo being a high performance, open source, versatile, real time simulation environment, in which is possible to configure an specific sensor adding its features, which allows to achieve a realistic simulation. The results represented the expected sensor behavior for the proposed scenarios.