A Matlab-based Interactive Simulator for Teaching Mobile Robotics

摘要

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 oers the advantage of testing dierent 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 gures. Some illustrative examples demonstrate the benets of the proposed simulator.