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Mobile Robot Simulation for Collision Avoidance with Simulink


Navigation is critical for mobile robot applications, such as maximum-space-coverage home cleaning, goods delivery for logistics robots in warehouse and hospital, to name a few applications only. Challenges in navigation include (3D) map import or construction (e.g., SLAM), path planning, and collision avoidance.  In this webinar, we demonstrate how to develop and simulate a collision avoidance algorithm with the CAD model of an Adept mobile robot (Pioneer 3-DX) in Simulink. After you verify that the algorithm works on desktop simulation, you can seamlessly test the algorithm on the real robot by using the same Simulink model without re-implementing the algorithm.

Simulation of different robot algorithms before manipulating the real hardware enables robotics researchers to focus more on algorithms development, and worry less about hardware debugging. Meanwhile, it also makes robotics teaching more affordable so that every student doesn’t need to have access to an expensive robot to learn various concepts of robotics technology, since sometimes it might be the department which is on a budget (apart from student’s budget) and might have only one robot for the entire class.

This webinar is divided into two sections. 

In sections 1, we demonstrate:

  • How to prepare your CAD model so that it can be imported into SimMechanics.
  • How to import the CAD model.
  • How to add actuations to joints.
  • How to add motion constraints to joints.

In sections 2, we demonstrate:

  • How to create a 3D environment.
  • How to simulate virtual sensors in Simulink.
  • How to design and simulate a collision avoidance algorithms using Stateflow.
  • How to test the algorithms on a real robot.

Please allow approximately 60 minutes to attend the presentation and Q&A session.

About the Presenter: Swarooph Seshadri is an Application Support Engineer with Mathworks. His interests are in physical modeling of dynamic systems and designing control systems for them. Swarooph holds an M.S in Mechanical Engineering from Texas A&M University, College Station.

対象製品

  • Simulink®
  • SimMechanics™
  • Stateflow®
  • Simulink 3D Animation ™