Title: Modeling omnidirectional mobile robots: an approach using simtwo
Authors: André Gustavo Conceição , António Moreira , Paulo Costa , Pedro Costa , Tiago Nascimento
Abstract: Simulating environments is a resourceful means to emulate a robot’s behavior. In control theory, a better simulator gives the systema better control tuning. This paper presents the model implementation of the SimTwo simulator in the middle size league and small size league omnidirectional mobile robots from FEUP, both called 5dpo robots. This simulator was created by FEUP as a free software that could be used to simulate a robotic environment correspondent to that of a real robot. In this paper we present the structure of the simulator as well as the tuning of the mobile robots parameters which consists of the model in the SimTwo environment. Finally, the 5dpo’s SimTwo virtual model behavior is compared with real robots experiments, presented and discussed.
Publication date: 2012-07-16
Online entry date: 2013-05-08
Conference: CONTROLO’2012
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