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Robot Navigation using the Attractor Dynamics Approach

This project demonstrates that the dynamic system approach can be used to generate collision-free paths toward targets while avoiding moving obstacles even if low-level sensory information (proximity sensors in this case) is used instead of representations of the environment, see (Althaus et al., 2001) or (Bicho et al., 1998) in docs folder for more information

Dynamical Obstacles Avoidance and Targets Acquisition

The dynamics generate a heading direction for a mobile robot that is moving successively but in a random order toward three predefined targets while avoiding randomly moving obstacles

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Video of the simulation can be seen seen here

The software tools used:

  • Matlab 8.5.0.197613 (R2015a)
  • V-REP PRO EDU version 3.5.0

The simulation robot used:

  • ePuck

To run the simulation:

  1. Start the V-REP simulator and open the simulation scene (epuck-dyn-obs-tar.ttt) provided in /src-vrep
  2. Start Matlab and change to simulation files folder or add its path
  3. Start simulation with:
>> moveEpuck

runs the simulation without plotting the dynamics of the heading direction

>> moveEpuck(1)

runs the simulation and plots the dynamics of the heading direction

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  1. If necessary, change the parameters of the dynamics and re-run the simulation

Author

  • Farid Oubbati
  • Date: 12-May-2017
  • Copyright (c) 2017

License

This project is licensed under the MIT License - see the LICENSE.txt file for more details