Modeling and simulation of movement of dispersed group of mobile robots using Simscape multibody software | Zendy

Michał Siwek | Zendy; Leszek Baranowski | Zendy; Jarosław Panasiuk | Zendy; Wojciech Kaczmarek | Zendy

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Modeling and simulation of movement of dispersed group of mobile robots using Simscape multibody software

Author(s) -

Michał Siwek,

Leszek Baranowski,

Jarosław Panasiuk,

Wojciech Kaczmarek

Publication year - 2019

Publication title -

aip conference proceedings

Language(s) - English

Resource type - Conference proceedings

SCImago Journal Rank - 0.177

H-Index - 75

eISSN - 1551-7616

pISSN - 0094-243X

DOI - 10.1063/1.5092048

Subject(s) - matlab , robot , computer science , multibody system , mobile robot , software , process (computing) , movement (music) , simulation , control engineering , engineering , artificial intelligence , operating system , physics , quantum mechanics , philosophy , aesthetics

The paper presents the process of modelling the movement of dispersed group of mobile robots using the MATLAB Simulink and Simscape Multibody software. As a modelled object, a group of laboratory robots, TurtleBot, was adopted. First, the construction of a robot CAD model is described. Next, the control system developed in Simulink is described. At the end, the robot components were defined in Simscape Multibody and a group movements analysis was carried out.

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