Author(s): José Gonçalves ; José Lima ; Hélder Filipe Pinto de Oliveira ; Paulo José Cerqueira Gomes da Costa
Date: 2008
Origin: Repositório Aberto da Universidade do Porto
Subject(s): Robótica, Engenharia electrotécnica, electrónica e informática; Robótica Robotics, Electrical engineering, Electronic engineering, Information engineering
This paper describes the sensor and actuator modelingof a realistic wheeled mobile robot simulator. The motivationof developing such simulator is to produce a personalizedversatile tool that allows production and validationof robot software reducing considerably the developmenttime. The mobile robot simulator was developed in ObjectPascal with its dynamics based on the ODE (OpenDynamics Engine), allowing to develop robot software fora three wheel omnidirectional robot equipped with Infra-Red distance sensors and brushless motors.
