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

Resultado de la investigación: Capítulo del libro/informe/acta de congresoContribución a la conferenciarevisión exhaustiva

10 Citas (Scopus)

Resumen

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.

Idioma originalInglés
Título de la publicación alojada2016 IEEE Conference on Control Applications, CCA 2016
EditorialInstitute of Electrical and Electronics Engineers Inc.
Páginas821-826
Número de páginas6
ISBN (versión digital)9781509007554
DOI
EstadoPublicada - 10 oct 2016
Evento2016 IEEE Conference on Control Applications, CCA 2016 - Buenos Aires, Argentina
Duración: 19 sep 201622 sep 2016

Serie de la publicación

Nombre2016 IEEE Conference on Control Applications, CCA 2016

Conferencia

Conferencia2016 IEEE Conference on Control Applications, CCA 2016
PaísArgentina
CiudadBuenos Aires
Período19/09/1622/09/16

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