Recently, I have been thinking to
work on a model based approach to control the behavior of a robot in a simulated
environment which can also be immediately deployed to a hardware prototype of
the model.
After going through a couple of
software, I have found that MATLAB Simulink and Stateflow would be the best
option for me to implement my idea. I have modelled my robot in Autodesk
Inventor and brought my model into MATLAB using Inventor – Simmechanics
interface.
Once I have my robot model in
MATLAB, I have designed the kinematic equations for my model in simulink so as to control
its behavior in the simulated environment. The robot behavior is controlled by the logic created in Stateflow. The robot has Forward, Reverse,Left and Right states. Based on the velocity inputs given to the wheels of the robot, the state of the robot changes.
Inspired by MATLAB webinar - http://in.mathworks.com/videos/mobile-robot-simulation-for-collision-avoidance-with-simulink-90193.html
