TY - GEN
T1 - Teaching control in mobile robotics with V-REP and a Khepera IV library
AU - Fabregas, Ernesto
AU - Farias, Gonzalo
AU - Peralta, Emmanuel
AU - Vargas, Hector
AU - Dormido, Sebastian
N1 - Publisher Copyright:
© 2016 IEEE.
PY - 2016/10/10
Y1 - 2016/10/10
N2 - The advances of information and communication technologies have impacted in control education. Virtual laboratories are increasingly been used to enhance the way that students interact with simulations. High degree of visualization and interaction offered by modern computers open the opportunity to teach theory fundamentals with a more natural approach. This work describes the use of the robot simulator V-REP and the Khepera IV library to teach interesting control problems with mobile robots. The Khepera IV library supports the new functionalities of the most recent version of the wheeled robot Khepera, which allows creating advanced 3D simulations in the V-REP environment. The article also explains how instructors can use this development to teach classical control problems in mobile robotics. In particular, the theory and practice of the problems for position control, trajectory tracking, path following and the obstacle avoidance are given in detail.
AB - The advances of information and communication technologies have impacted in control education. Virtual laboratories are increasingly been used to enhance the way that students interact with simulations. High degree of visualization and interaction offered by modern computers open the opportunity to teach theory fundamentals with a more natural approach. This work describes the use of the robot simulator V-REP and the Khepera IV library to teach interesting control problems with mobile robots. The Khepera IV library supports the new functionalities of the most recent version of the wheeled robot Khepera, which allows creating advanced 3D simulations in the V-REP environment. The article also explains how instructors can use this development to teach classical control problems in mobile robotics. In particular, the theory and practice of the problems for position control, trajectory tracking, path following and the obstacle avoidance are given in detail.
KW - Computer-based
KW - Control education
KW - teaching environments
UR - http://www.scopus.com/inward/record.url?scp=84994381609&partnerID=8YFLogxK
U2 - 10.1109/CCA.2016.7587920
DO - 10.1109/CCA.2016.7587920
M3 - Conference contribution
AN - SCOPUS:84994381609
T3 - 2016 IEEE Conference on Control Applications, CCA 2016
SP - 821
EP - 826
BT - 2016 IEEE Conference on Control Applications, CCA 2016
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2016 IEEE Conference on Control Applications, CCA 2016
Y2 - 19 September 2016 through 22 September 2016
ER -