Programming Mobile Robots in an Educational Context: a Hardware-in-the-loop Approach

Brancalião, Laiany Suganuma; Alvarez, Mariano José; Coelho, João Paulo; Conde, Miguel Ángel; Costa, Paulo Gomes da; Gonçalves, José

http://hdl.handle.net/10198/30648

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Authors

Brancalião, Laiany Suganuma

Alvarez, Mariano José

Coelho, João Paulo

Conde, Miguel Ángel

Costa, Paulo Gomes da

Gonçalves, José

Abstract(s)

In this paper it is presented a Hardware-in-theloop (HIL) mobile robot programming approach, to be applied in a robotics educational context. The motivation to apply this approach is the fact that students can program the robots without access to the robot hardware, but still maintain some important closed loop control critical features, such as a realistic lag time and the possibility for a larger number of students to program at the same time. Therefore, the developed software is applied to the real hardware without any change. The HIL approach was applied to provide a simulation close to reality, once the processing occurs in the real robot processor and the actuation and sensorization inside the simulation, adding to the advantage to test the firmware avoiding damage in the physical robot.

Keywords

Hardware-in-the-loop (HIL) Mobile Robots

URI

http://hdl.handle.net/10198/30648

Citation

Brancalião, Laiany; Alvarez, Mariano; Coelho, João; Conde, Miguel; Costa, Paulo; Gonçalves, José (2024). Programming Mobile Robots in an Educational Context: a Hardware-in-the-loop Approach. In 2024 10th International Conference on Control, Decision and Information Technologies (CoDIT). Vallette: IEEE, p. 1-5. ISBN 979-8-3503-7397-4.