Teaching control in mobile robotics with V-REP and a Khepera IV library

Ernesto Fabregas, GONZALO ALBERTO FARIAS CASTRO, Emmanuel Peralta, Hector Vargas, Sebastian Dormido

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

10 Scopus citations

Abstract

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.

Original languageEnglish
Title of host publication2016 IEEE Conference on Control Applications, CCA 2016
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages821-826
Number of pages6
ISBN (Electronic)9781509007554
DOIs
StatePublished - 10 Oct 2016
Event2016 IEEE Conference on Control Applications, CCA 2016 - Buenos Aires, Argentina
Duration: 19 Sep 201622 Sep 2016

Publication series

Name2016 IEEE Conference on Control Applications, CCA 2016

Conference

Conference2016 IEEE Conference on Control Applications, CCA 2016
CountryArgentina
CityBuenos Aires
Period19/09/1622/09/16

Keywords

  • Computer-based
  • Control education
  • teaching environments

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