  Robotics simulation provides many advantages during the development of an
intelligent ground vehicle (IGV) such as testing the software components in
varying scenarios without requiring a complete physical robot. This paper
discusses a 3D simulation environment created using rapid application
development and the Unity game engine to enable testing during a mobile
robotics competition. Our experience shows that the simulation environment
contributed greatly to the development of software for the competition. The
simulator also contributed to the hardware development of the robot.
