Mobile Robot Simulation for Collision Avoidance with Simulink

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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, which is divided into two sections, 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 reimplementing 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. Every student doesn’t need access to an expensive robot to learn various concepts of robotics technology. Sometimes it might be that the department is on a budget (apart from student’s budget) and might have only one robot for the entire class.
In Section 1, we demonstrate how to:
Prepare your CAD model so that it can be imported into SimMechanics.
Import the CAD model.
Add actuations to joints.
Add motion constraints to joints.
In Section 2, we demonstrate how to:
Create a 3D environment.
Simulate virtual sensors in Simulink.
Design and simulate a collision avoidance algorithms using Stateflow.
Test the algorithms on a real robot.
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.

[@bilalsadiq45]

Bro you are just explaining what you have done,,it would be better if you make a playlist by designing the model step by step ..

[@shenyanwu]

I really don't know how to create a vitrual environment model step by step, the solidworks can't recognize the WRL file with 3D environment😭

[@HuongHoang-ez9si]

How you reduce contrain..My simulink look very complicated.

[@kunalpatil3700]

Instead of Simmechanics, I am geting Simscape multibody link....what do i do?

[@sovereignghost3195]

Both are the same things

[@aissafarid4519]

can you do this in real time with matlab???

[@reelslover3375]

Instead of work flow how can use kalman filter and fuzzy slide mode control are used please suggest

[@VIJAYKUMAR-ng2xc]

Hi mam am from Hyderabad so I want to learn MATLAB now am beginner could you help me please

[@reelslover3375]

@@VIJAYKUMAR-ng2xc what is your topic and which type of help you need

[@VIJAYKUMAR-ng2xc]

Mam am a mechanical graduate student so related to mechanical domain part on MATLAB

[@hmy77-77]

dear sir, the simulation with state flow controller works fine and it is outstanding work you done here. but i want to implement a fuzzy logic controller instead of state flow. but i don't know how to get the sensors data. can you please show us to get the date to use for fuzzy logic. thanks

[@rakshitshetty8624]

have u found the solution yet?
please reply

[@varietiesworld9222]

Can you share the link of solidworks file?

[@hmy77-77]

how to add a path to this work

[@VIJAYKUMAR-ng2xc]

Am beginner so difficult to understand

[@nhatlehuutran6267]

Me too :( , we can learn together.

[@anaytamehta9776]

This was so helpful!!

[@HuongHoang-ez9si]

you hide some mate.