Simulator for control of autonomous nonholonomic wheeled mobile robot

Abstract

The study presents a Virtual Reality (VR) technique that is used in the construction of a nonholonomic Wheeled Mobile Robot (WMR) simulator for the experimentation of robotic control algorithms. The modelling of the proposed simulator involves motion planning, motion control and the application of a VR technique that employ a number of strategies and algorithms. The role of a trajectory planner as the interface mechanism between the motion planner and controller is particularly highlighted to facilitate the overall design of the simulator. The interlinking between the main components is also relevantly described prior to the execution of a simulation study that takes into account a number of operating and loading conditions. A case study includes the application of different control schemes to the WMR that is executing a tracking task with disturbances applied at its actuators in a virtual Computer Integrated Manufacturing (CIM) environment. Results of the study indicate the effectiveness of the proposed simulator in demonstrating the WMR capability to manoeuvre desirably towards its target destination while at the same time avoiding the collision with obstacles along its travelled path.