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Mobile Robot Simulation for Collision Avoidance with Simulink

version 1.2.0.1 (17.7 MB) by MathWorks Robotics Team
Simulink models and CAD files used in this webinar: Mobile Robot Simulation for Collision Avoidance

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Updated 01 Sep 2016

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This submission contains Simulink models and CAD files used in this webinar: <Mobile Robot Simulation for Collision Avoidance with Simulink>. You can watch the webinar here: http://www.mathworks.com/videos/mobile-robot-simulation-for-collision-avoidance-with-simulink-90193.html
Example 1: SimMechanics Model of the Pioneer 3DX Robot Driven by Gravity Only
File(s): Pioneer3DXAssembly.slx (supporting files below)
Example 2: SimMechanics Model of the Pioneer 3DX Robot with Angular Velocity Actuation to Two Wheels
File(s): Actuated_Pioneer3DXAssembly.slx (supporting files below)
Example 3: SimMechanics Model of the Pioneer 3DX Robot with Motion Constraints
File(s): MotionConstraints_Pioneer3DXAssembly.slx (supporting files below)

Supporting Files for Examples 1, 2 and 3:
File(s): SimMechanics_Supporting_Files.zip

Example 4: SimMechanics Model of the Pioneer 3DX Robot Actuating Simulink 3D Animation in a Virtual Environment
File(s): SL3DAnim_Pioneer3DXAssembly.slx (supporting files below)

Example 5: SimMechanics Model of the Pioneer 3DX Robot Performing Collision Avoidance using Stateflow and Visualized in Simulink 3D Animation in a Virtual Environment
File(s): Controller_Pioneer3DXAssembly.slx (supporting files below)

Supporting Files for Examples 4 and 5:
VRML Files for 3D Animation Visualization:
 SL3D_Supporting_Files.zip
Look Up Table Data:
 WorldLUTData.mat

Example 6: Simulink Model to Interact with Pioneer 3DX Robot to do Collision Avoidance (supporting files below)
Files(s): main_demo_real_robot.slx

Supporting Files for Example 6:
ARIA Simulink Library (Pioneer3DX_Simulink_Library.zip)

IMPORTANT NOTES:
1. The examples work only in MATLAB 8.2(R2013b) or later
2. Once the supporting files are unzipped, add the folders and sub folders to the MATLAB path
3. Examples 1, 2 and 3 require MATLAB, Simulink and SimMechanics
4. Examples 4 and 5 require MATLAB, Simulink, SimMechanics and Simulink 3D Animation
5. Example 6 requires MATLAB, Simulink and Stateflow

Comments and Ratings (17)

cuixiao

it is a good demo, but can someone give me an explanation about the kinematic subsystem in the motion constraint model?
I really don't understand the math princple.

thank you

Pangcheng Cen

Hi! I think that the Pioneer3DX_Simulink_Library.zip supporting files are missing. Can you upload the missing files?

Bear

Bear (view profile)

i mean the without the data file, the shape is unable to display

good

good (view profile)

hey there

I'm using this example from matlab source.

please you may click on the link bellow. ( Mobile Robot Simulation for Collision Avoidance with Simulink)

http://www.mathworks.com/matlabcentral/fileexchange/47208-mobile-robot-simulation-for-collision-avoidance-with-simulink

here i am using this licensed source to develop a mobile robot with virtual Maze environment in order to avoid the obstacles and run inside this environment.the differences are only the Maze design and dimensions.

when i use this look up table to my design the robot behaves like running on the environment provided by of Matlab Source.

the problem is how can i generate look up table based on my Maze design so that the robot will avoid the obstacles and run inside the maze without passing through the virtual wall of this Maze.

in other way, is there any guide on how MathWorks Support Team design this look up table 2001X12001 double. file's name WorldLUTData.mat

is it based on the dimension of the virtual environment or extracted from the VRLM design?

thank you so much

good

good (view profile)

thank you so much for this great project.
in case if we want to apply this project in real world
how can we apply it for arduino?

thank you so much

Hi,
It's really an amazing demo, I changed CAD file into my robot, modified the code to adjust my hardware. XD

samia ABBOUD

Hi
Thank you for these example it was really helpful for me. However I have some questions and I hope that someone can help me
1. Did the sonars you modeled exist in the CAD model of the robot? how to add more sensors?
2.How to change the robot's initial position in the virtual world?
3. If I need to control this robot so that it goes to a point given by (x, y) in its environment, what should I change?
Thank you

samia mellah

Hi
I can't read the "WorldLUTData.mat" file. Someone can help me please ?

excellent example for creating simulation for any CAD model.

Jung-Ho Moon

How can I run 'main_demo_real_robot.slx' model in 64bit environment?

When I tried to run the model, several mex-file errors came out. (Library/SFuncs/)

Can you tell compile options for this model?

Sadi Nasib

Thanks for the great video. Much appreciated.

I have one question. How you got the .mat-file? Is it from .wrl-file? If it is, how you obtain that file?

I changed the environment for the robot. But I don't know how to get .mat-file for that.

I would also be thankful if you explain how to import it to Model Workspace. Because I keep getting this error: Undefined function or variable 'World_LUT'

Thanks in advance

Ying Zhang

In the example 2, if I change the angular speed of the wheel, the robot doesn't response,could you please explain?

jun

jun (view profile)

raphael

hi
i am currently trying to adapt this example to another custom environnement : could it be possible you give me hints on where to find information about how to generate a custom lookup table that suits with the virtual world ? can this be done automatically (changing the wrml changes the look up table on the fly) ? sorry if not the right place to ask, please let me know if there is a more appropriate place to post ? very nice webinar by the way !

Carlos Moran

very good

Hongjun

very good

Updates

1.2.0.1

Updated license

1.2.0.0

BSD License

MATLAB Release Compatibility
Created with R2013b
Compatible with any release
Platform Compatibility
Windows macOS Linux

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