Adapted Laboratory for Mobile Robotics Teaching and its Application to Coordinated Control of Robots

摘要

This paper presents a teaching laboratory especially suitable for practical work with mobile robotic systems. The laboratory is composed of a set of low-cost robots and a vision-based data capture system used to localise such robots with precision. All the generated information is centralised on a computer that acts as a link between the different elements. MATLAB-Simulink, a wellknown programming environment, is used for information processing, and it also achieves maximum compatibility with the dynamic control tasks of the robots. To demonstrate the usefulness of the developed software and hardware infrastructure that comprise the laboratory, a coordinated control system involving several robots and using Lloyd's algorithm is presented.