DESIGN AND IMPLEMENTATION MOBILE ROBOT SIMULATOR: SIMULATION OF SENSOR, WHEEL AND MOTION ALGORITHM

• Main Author: WIJAYA (NIM 13203154); Pembimbing: Kusprasapta Mutijarsa ST. MT., HADI
• Format: Final Project
• Language: Indonesia
• Online Access: https://digilib.itb.ac.id/gdl/view/14201
• Institution: Institut Teknologi Bandung

<p align="justify">A simulator is importantly need to simulate a system into a computer program. Using this simulation the error design risk can be reduce because the parameters of system can be calculated before the system made so some error can be eliminated before the system realized. More over the optimized parameter of system can be counted so the better system can be realized.<p align="justify"><p>During implementing a mobile robot, the simulator is also need too. The simulator can help robot designer to design the optimal robot platform in simulation in order to make the optimal robot in reality. In this research, will be build a mobile robot simulator in two dimension zone. The mobile robot shape is a circle and have two wheel identically and symmetrically. The sensor system is ranging sensors that are placed surrounding the robot.<p align="justify"><p>The simulator help user to build the environment with it's obstacle where the robot will move to reach the target. Then, user can change the parameters of sensor, parameters of wheel and parameters of robot geometry, that will transform the physical view of robot on the canvas. User must input an algorithm (or choose some algorithm given in simulator) before it can be simulated.<p align="justify"><p>On the simulation, the robot will move based on the algorithm inputted to reach target and avoid the obstacle around the environment. There's also a panel that show some parameter that change during the simulation, such as time of simulation, robot position and orientation, right/left wheel velocity.<p align="justify"><p>Based on simulation a robot designer can see robot's behavior if it's set with such parameter. Can the robot reach target or will the collision happened? Beside the simulation can describe how optimal an algorithm is based on the time of simulation. In here the robot designer can choose the best parameter and best algorithm to be implemented into the real robot.