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Robotics Simulation GROUP C

The document discusses the importance of robotics simulation for designing and validating robotic systems using MATLAB's Robotics System Toolbox. It outlines techniques for simulating a differential drive mobile robot, including goal specification, area setup, algorithm development, and performance analysis. Additionally, it highlights the benefits, performance assessment, challenges, and potential future enhancements of robotics simulation.

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9 views5 pages

Robotics Simulation GROUP C

The document discusses the importance of robotics simulation for designing and validating robotic systems using MATLAB's Robotics System Toolbox. It outlines techniques for simulating a differential drive mobile robot, including goal specification, area setup, algorithm development, and performance analysis. Additionally, it highlights the benefits, performance assessment, challenges, and potential future enhancements of robotics simulation.

Uploaded by

egm2047
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© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Robotics Simulation

By: Noor Ayad -C-


Overview In order to design, test, and validate robotic systems in a virtual
environment prior to their practical implementation, robotics simulation has
emerged as a crucial technique. A powerful framework for simulating a variety of
robotic systems, such as mobile robots, manipulators, and autonomous vehicles, is
offered by MATLAB's Robotics System Toolbox. Without the hazards and expenses
of the actual world, these simulations allow developers to evaluate motion
planning, control, and sensor integration methods. In order to explore a
predetermined environment and avoid obstacles, this article shows how to
simulate a differential drive mobile robot using MATLAB.

Techniques
1. Specify the goals:
• Model a differential drive robot in two dimensions.To navigate from a starting
point to a destination, test motion planning and control methods.
2. area Setup:
• Make a 2D occupancy grid map that shows the obstacles in the area.
• Specify the sensors and kinematics of the robot to detect collisions.
3. Development of Algorithms:
• For path planning, employ the Rapidly-Exploring Random Tree (RRT) algorithm.
• To track paths, use a Pure Pursuit Controller.
4. Simulation Implementation:
MATLAB is used to model the robot's movement and update its position in real
time.
• Track performance indicators including time to objective and path correctness.
5. Analysis: Examine the robot's trajectory, computing efficiency, and path
smoothness.
An explanation of the code A MATLAB implementation of the robot simulation
may be found below:
An explanation of the code
1. Definition of a Robot:
• The differential driveThe kinematics function establishes the wheel radius and
track width of a differential drive robot, defining its motion model.
2. Environment Setup: The 2D grid map with obstacles specified with the
setOccupancy function is represented by a binaryOccupancyMap.
3. Path Planning: From the beginning to the destination, an accident-free path is
created using the RRT planner (pathPlannerRRT).
4. Control Implementation: Using the planned path as a guide, a
controllerPurePursuit calculates the robot's linear (v) and angular (omega)
velocities.
5. Simulation Loop: Using its kinematic model and control inputs, the robot's
location is updated iteratively.
• The robot's movements is animated via a visualisation helper function called
helperVisualizeRobot.

Talk about
1. Benefits of Robotics Simulation with MATLAB:
• Usability: MATLAB's built-in functions make it easier to design intricate
algorithms.
• Integrated capabilities: The Robotics System Toolbox offers simulation, control,
and path planning capabilities in a single environment.
• Visualisation: Robot motion may be seen in real time thanks to MATLAB's
plotting features.
2. Performance Assessment:
• Accuracy: The Pure Pursuit Controller guarantees fluid route tracking, and the
RRT algorithm efficiently creates paths free of collisions.
• Efficiency: Although the simulation runs in real time, larger maps or more
numerous obstacles may result in less computational efficiency.
3. Difficulties and Restrictions:
• Simplified Models: Real-world dynamics, like wheel slippage or sensor noise,
might not be accurately represented by the simulation.
• Scalability: In extremely complicated environments, RRT's performance may
deteriorate.
4. Future Enhancements:
• Using sophisticated path planners, such as Dijkstra or A*, to generate paths as
efficiently as possible.
• Including sensor fusion (such as cameras and LIDAR) to improve obstacle
recognition.
• Using real-world physics simulation to make robot behaviour more lifelike.

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