Simulation in Mobile Robotics: Abstraction Levels and Control Strategies
Dive into the world of simulation in mobile robotics with Anthony J. Clark. Explore the importance of finding the right level of abstraction and addressing key questions about electromechanical properties, inertia, battery levels, noise, and wheel slippage. Discover analytical and numerical model simulations for a two-dimensional WMR, including scenarios like adding a wall and implementing dynamic control. Enhance your understanding of robotics through interactive visual representations and code examples.
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Presentation Transcript
Simulation Mobile Robotics Anthony J. Clark
Today Simulation 2
Simulation Find the right level of abstraction Answer the question: what do you care about? 3
Simulation Find the right level of abstraction Answer the question: what do you care about? Do you care about the electromechanical properties? Do you care about inertia? Do you care about battery levels or capacity? Do you care about noise? Or wheel slippage? 4
Analytical Model Simulation Example: A Two-Dimensional WMR ??= ?0+ ??? Analytical Model Simulation 5
Analytical Model Simulation Example: A Two-Dimensional WMR ??= ?0+ ??? let initialPosition = 0; let chassisPosition; let angularVelocity = 1; let wheelRadius = 1; function simulate( time ) { // x = x0 + r t v = angularVelocity * wheelRadius chassisPosition = initialPosition + v * time; } Analytical Model Simulation 6
What if We Add a Wall? ??= ?0+ ??? Analytical Model Simulation 7
What if We Add a Wall? ??= ?0+ ??? if ( distanceToWall > 0 ) { chassisPosition = initialPosition + v * time; } Analytical Model Simulation 8
What if We Want Dynamic Control? ??= ?0+ ??? Where, ? = constrain(?? + ?, , ) Analytical Model Simulation 9
Numerical Simulation ??= ?0+ ??? ??= ?? 1+ ?? ? (1) Analytical (2) Numerical Dynamic Control 10
Numerical Simulation Code ??= ?? 1+ ?? ? let initialPosition = 0; let chassisPosition = initialPosition; let angularVelocity = 1; let wheelRadius = 1; function simulate( duration ) { let time = 0; const timeStep = 0.01; let v = angularVelocity * wheelRadius while ( time < duration ) { chassisPosition += v * timeStep; time += ; } } 11
Demo 12
