Context and objective of the project
The INCASE team (GE-MIA) is working on several themes around the Industry of the Future, including autonomous and connected robotics. The term “autonomous and connected robot” is used here to refer to any entity that is instrumented and equipped with an embedded control system. Moreover, it is able to communicate and interact in real time and remotely with its environment or with other remote entities.
In the GE-MIA department, we have some mobile robots for research and pedagogy. But they are limited in number and capacity.
The aim of this work, in the long term, is to develop an operational simulator to build custom digital models that can be controlled online. The initial focus will be on:
- robot models with its working environment (mobile or fixed manipulator arm)
autonomous car type vehicle integrating an ADAS type instrumentation [1].
The immediate applications expected from this tool are:
- Research use: to have a platform for validation of advanced control/command algorithms (mobile robotics and autonomous vehicles in particular) + communication and collaboration actions around this theme.
- For use in R&D: feasibility study and rapid prototyping tool.
- pedagogical use: making available to students I4.7/8 and A4.8 for synthesis projects
Simulator architecture
The simulator will be developed around the following software platforms:
- Matlab/Simulink for the implementation of real-time control algorithms
- V-REP : for the creation and numerical simulation of virtual models (operative part)
- SOLIDWORKS, for the design of specific 3D operating part (if applicable)
The picture illustrates the principle architecture of the system to be realized. The software parts “Interface” (Matlab) and “3D Simulation” (V-REP) can live together in the same host PC or run in 2 PCs connected by Ethernet network (TCP/IP). The HIL (Hardware In the Loop) part will be studied later.
The work required consists of:
- Make a state of the art on 3D virtual simulation (native Matlab or by compatible software).
- Get to grips with the functionalities of Matlab/Simulink: the Matlab scripting language and the Simulink graphical programming toolbox. As well as the ROS (Robotic Operating System) toolbox.
- Appropriating the V-REP environment: programming and creation of 3D objects
- Based on existing literature, create an interface between V-REP and Matlab/Simulink using the following two technologies:
- using Matlab scripting mode
- using SWR functions in Simulink
- Create a first prototype of the 3D simulator based on the model of the Kuka YouBot robot (of which we have a copy at the Icam).
- Realize a second prototype of a 3D simulator with 2 4-wheeled vehicles as operating part (based on models existing in the literature)
- Carry out tutorials on the developments carried out
- Write a technical report + a summary note of the work carried out
In addition, as part of this work, the MSI pair will be called upon to deploy this technology and implement it by supervising groups of I4 or/and A4 students as part of their synthesis project.
[1] ADAS: Advanced Driver Assistance System
