Sensor and actuator modeling of a realistic wheeled mobile robot simulator

Author

Goncalves, Jose ; Lima, Jose ; Oliveira, Helder ; Costa, Paulo

Author_Institution

Fac. de Eng., Univ. do Porto, Porto

fYear

2008

fDate

15-18 Sept. 2008

Firstpage

980

Lastpage

985

Abstract

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.

Keywords

actuators; control engineering computing; mobile robots; program verification; sensors; actuator; brushless motors; infrared distance sensors; object pascal; open dynamics engine; personalized versatile tool; sensor; software production; software validation; wheeled mobile robot; Actuators; Brushless motors; Engines; Infrared sensors; Mobile robots; Production; Robot sensing systems; Sensor phenomena and characterization; Software tools; Wheels;

fLanguage

English

Publisher

ieee

Conference_Titel

Emerging Technologies and Factory Automation, 2008. ETFA 2008. IEEE International Conference on

Conference_Location

Hamburg

Print_ISBN

978-1-4244-1505-2

Electronic_ISBN

978-1-4244-1506-9

Type

conf

DOI

10.1109/ETFA.2008.4638513

Filename

4638513