MODELLING AND SIMULATION OF ANTI-COLLISION SYSTEM
ABSTRACT
In order to avoid accidents by collision, a collision avoidance system for a differential drive robot has been modelled and simulated in Simulink. The robot is set up with a goal of passing through a predefined trajectory without colliding into any of the obstacles present in the environment using a lidar sensor. For our simulation, we use the Mobile Robotics Simulation Toolbox[1] (v2.1). The sensing unit, control algorithm, kinematics of the system, drive simulation and robotic visualizer is modelled using MATLAB and/or Simulink. The control algorithm is designed in such a way that when an obstacle in detected within the safety radius of the robot, the path is modified to avoid a collision. The simulation begins with the robot at the first waypoint and stops when the robot passes the last waypoint. The 2D Robot Visualizer block in Simulink provides a dynamic visualization of the collision avoidance system in action as the robot passes through all the waypoints without colliding into the obstacles.
MY WORK
Modelled a 2D differential drive robot with a sensing unit to flow the waypoints by avoiding obstacles.
Designed a control algorithm to avoid collision through Vector Field Histogram and simulated the output as an animation using MATLAB /Simulink.
Kindly refer the paper (Attached PDF) for full information of the project.
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