A Matlab-based interactive simulator for mobile robotics

Abstract

This paper presents an open-source Matlab-based interactive software tool for teaching mobile robotics in introductory courses. In particular, it deals with the subjects: modeling, path planning, and motion control. This simulator offers the advantage of testing different aspects related to these fundamental topics and instantly seeing the result in a Graphical User Interface (GUI). This fact leads to a high realism in interactivity, while no previous knowledge in Matlab or programming is required. Additionally, it constitutes an easily scalable tool, the GUI has been properly designed with just one single window with straightforward and intuitive buttons, icons, and figures. Some illustrative examples demonstrate the benefits of the proposed simulator.