Collision Avoidance Bot

This project is about mobile robot simulation for avoiding collision in a given environment.



STEP1


Step1 is exporting a CAD model of PIONEER-3DX to .xml file and using the simulink file thus created in matlab.



STEP2


The simulink file thus created will have constraints on wheels for robot motion



By changing the constraints on the robot, we can decide in which direction to move the robot.
If the constraint on left_wheel=1 and that on right_wheel=0, it will turn in right direction and vice versa. To make the robot move forward or backward, both the constraints should be equal.


STEP3


Step3 involves making the enviroment and inlining the enviroment with the robot file. This file is uploaded in vr sink block of the file which is the last block of the code. 



STEP4


Step4 is about creating the control logic. The control logic depends on a previously defined look-up table. The control logic is a stateflow that takes sensors as input and gives out wheel constraints as output. 



In the function Block


function [xR,yR] = fcn(x,y,rot)
%#codegen
x
y
l=2.5;
k=rot*[0;l;0];
xR=x+k(1)
yR=y+k(2)






STEP5


After giving the control logic, the final step is simulating the robot to move in the enviroment.










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