  In this article, we propose a new approach for simulating trees, including
their branches, sub-branches, and leaves. This approach combines the theory of
biological development, mathematical models, and computer graphics, producing
simulated trees and forest with full geometry. Specifically, we adopt the
Lindenmayer process to simulate the branching pattern of trees and modify the
available measurements and dimensions of 3D CAD developed object files to
create natural looking sub-branches and leaves. Randomization has been added to
the placement of all branches, sub branches and leaves. To simulate a forest,
we adopt Inhomogeneous Poisson process to generate random locations of trees.
Our approach can be used to create complex structured 3D virtual environment
for the purpose of testing new sensors and training robotic algorithms. We look
forward to applying this approach to test biosonar sensors that mimick bats'
fly in the simulated environment.
