Sensor and actuator modeling of a realistic wheeled mobile robot simulator

• Autor(es): José Gonçalves ; José Lima ; Hélder Filipe Pinto de Oliveira ; Paulo José Cerqueira Gomes da Costa
• Data: 2008
• Identificador Persistente: http://hdl.handle.net/10216/43528
• Origem: Repositório Aberto da Universidade do Porto
• Assunto(s): Ciências tecnológicas; Engenharia; Engenharia de controlo; Robótica
• Tipo de Documento: Documento de conferência
• Idioma: Inglês

Descrição

This paper describes the sensor and actuator modeling of a realistic wheeled mobile robot simulator. The motivation of developing such simulator is to produce a personalized versatile tool that allows production and validation of robot software reducing considerably the development time. The mobile robot simulator was developed in Object Pascal with its dynamics based on the ODE (Open Dynamics Engine), allowing to develop robot software for a three wheel omnidirectional robot equipped with Infra- Red distance sensors and brushless motors.