Development of semi-autonomous mobile robot hardware-in-the-loop (HIL) simulation for indoor mapping
Hardware-in-the-loop (HIL) simulation has widely been used among automotive industry, traffic control, robotics, unmanned vehicle and many other industries. HIL test became new trends in embedded system testing since they provide the advantageous factor such as cost, safety and duration, which...
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| Main Author: | |
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| Format: | Thesis |
| Language: | English |
| Published: |
2012
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| Subjects: | |
| Online Access: | http://eprints.uthm.edu.my/2271/1/24p%20LUHUR%20BUDI%20SAESAR.pdf http://eprints.uthm.edu.my/2271/ |
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| Institution: | Universiti Tun Hussein Onn Malaysia |
| Language: | English |
| Summary: | Hardware-in-the-loop (HIL) simulation has widely been used among automotive
industry, traffic control, robotics, unmanned vehicle and many other industries. HIL
test became new trends in embedded system testing since they provide the
advantageous factor such as cost, safety and duration, which is to be sought for most
industries. In unmanned vehicle area, many robotics researchers have focused on the
development of unmanned aerial vehicle (UAV) but not on unmanned ground
vehicle (UGV). Hence, the research was intended to develop a control system
architecture test for UGV using HIL simulation method. The research process had
focused on control system architecture development based on HIL method along
with kinematic-dynamic modeling, telemetry-visualization system and laser range
finder (LRF) block in SIMULINK for mapping indoor environment. In this study,
several tests were conducted to ensure the results meet the objectives. Telemetry
test, sensing-mapping test and motion control test were done prior to the assembly
system. The use of MATLAB SIMULINK toolboxes was to simplify the building,
editing, monitoring and verifying the control system. The result was a control
system architecture that applied HIL method and an alternative telemetry
visualization. Kinematic-dynamic modeling was conducted to compare the path
history between the simulation and the real test. An alternative telemetry�visualization system was achieved using the regular playstation joystick principle.
From it an alternative sensor such as rotary encoder and inclinometer were able to be
built. Furthermore, 3D virtual model of UGV and the environment test field were
developed to ease the system monitoring. Finally, the control system architecture
that was developed and proven would be useful for further development of UGV.
Keywords : Hardware-in-the-loop; Simulation; SIMULINK; Unmanned Vehicle;
Telemetry; Visualization. |
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