Virtual Simulator for Autonomous Mobile Robots Navigation System Using Concepts of Control Rapid Prototyping

Leonimer Flavio de Melo, Aziz Elias Demian Junior, Joao Mauricio Rosario

Abstract


This work presents the proposal of virtual environment implementation for project simulation and conception of supervision and control systems for mobile robots, that are capable to operate and adapting in different environments and conditions. This virtual system has as purpose to facilitate the development of embedded architecture systems, emphasizing the implementation of tools that allow the simulation of the kinematic conditions, dynamic and control, with real time monitoring of all important system points. For this, open control architecture is proposal, integrating the two main techniques of robotic control implementation in the hardware level: systems microprocessors and reconfigurable hardware devices. The implemented simulator system is composed of a trajectory generating module, a kinematic and dynamic simulator module and of a analysis module of results and errors. The kinematic and dynamic simulator module makes all simulation of the mobile robot following the pre-determined trajectory of the trajectory generator. All the kinematic and dynamic results shown during the simulation can be evaluated and visualized in graphs and tables formats, in the results analysis module, allowing an improvement in the system, minimizing the errors with the necessary adjustments optimization. For controller implementation in the embedded system, it uses the rapid prototyping, which is the technology that allows, in set with the virtual simulation environment, the development of a controller project for mobile robots. The validation and tests had been accomplishing with nonholonomics mobile robots models with differential transmission.


Keywords


Mobile robotic systems; Embedded control systems; Reconfigurable control architecture; Open architecture systems; Rapid control prototyping



DOI: http://dx.doi.org/10.5433/1679-0375.2013v34n1p81

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This work is licensed under a Creative Commons Attribution-NonCommercial 4.0 International License.

Semin., Ciênc. Exatas Tecnol.
Londrina - PR - Brazil
E-ISSN: 16790375
DOI: 10.5433/1679-0375
Email: seminaexatas@uel.br
 
This journal is licensed with a license Creative Commons Attribution-NonCommercial 4.0 International.