Abstract
This paper describes about the construction of online simulation environment with which we can develop control algorithms for the track robots, mainly for the robot named "Kenaf." As a simulator, we use USARSim that can simulate 3 dimensional space. By employing the real time simulation of USARSim, we connect the real robot controller and the simulator directly and realize the online simulation with the real robot controller. We test some validations with the created simulation system and denote the availability of the system for the development of control algorithms.
