Mobile Robot Simulation for Collision Avoidance In Matlab

Abstract

The research demonstrates the feasibility of designing and simulating an autonomous mobile robot utilizing MATLAB's Simscape Multibody to detect and avoid obstacles in a simulated environment. A solid works model of the robot, featuring a differential drive system that utilizes two dc motors for propulsion and incorporating eight ultrasonic sensors arranged in a 180-degree arc for increased range of detection, was completely designed and imported into MATLAB for both dynamic simulation and three dimensional viewing. The results from this study show that the robot successfully detects obstacles and avoids them in a stationary environment there is some minor instability when there is concurrent activation of multiple sensors at the same time. This research clearly shows the use of MATLAB's simulation software can be very effective in developing and testing autonomous robotic systems before they are physically implemented.