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Written by Rizki Noor Hidayat Wijayaź   

This software allows the user to configure and execute missions using simulated or real robots that are controlled by reactive control techniques developed at Georgia Institute of Technology. The aim of the Project was to implement a robot-simulator (EasyBot), a tool based on LightVision3D that should be able to simulate all kinds of robots (existing and imaginable). Other tasks were to develop an interface that can be used with a real Khepera robot as well as with the simulator, and several control units for the Khepera robot and simulator.

The project was originally planned to produce contols for examining the Khepera robot. Therefore we got a simulator (EasyBot) and the real robot. The first step to do should be to try a control using EasyBot before porting it to the robot.

After a few tests we found out, that the porting from EasyBot to the real Khepera robot meant to design a completely different program. This was caused by major differences between EasyBot and the real robot. Therefore our main objective changed to build up common interfaces to have one control for all kinds of using.

We intended to generate a robotics programming interface, which allows to develop a control that is testable independendly from the real robot. After testing on the simulator, it should work similary on the real robot.

The project was successfully in a way that we designed a structure to program a Khepera robot in a fairly easy way. The control just need to be written once to be executable on the simulator, online (via the serial connection) and directly on the robot.

Due to the lack of time we were not able to implement the whole functionality for the simulator. Caused by using C++, there are still problems with the cross compiler, which does not work properly. The secondary aim was to generate a set of tools, which are necessary to work with the robot (serial communication, download . . . ).

When we wrote these tools we decided to have tools for Linux and WindowsNT. We produced a few controls to demonstrate, how to use the simulator. Some of them does not fit to our interface.

These controls were necessary to find advantages and disadvantages of the simulator and our interface. After providing this interface and these tools, now its time to write controls to use them.

[download: 47,52 MB]