CONTROL SYSTEMS SIMULATOR FOR WHEELED ROBOTS USING EASY JAVA SIMULATIONS

This paper describes a control systems simulator for differential wheeled mobile robots using Easy Java Simulations and Simulink® interconnected. This simulator provides a tool to study and simulate control systems. Also, a simulation example is presented using velocity field control with the results and a brief explanation. This simulator offers a new option for those users interested on wheeled mobile robots navigation control, who want to simulate their models. To achieve this, the application allows: position control with X, Y and angle reference set by the user; reference using velocity fields, robot dynamics, and contact sensors.