Virtual Training System For The Autonomous Navigation of An Omnidirectional Traction Robot

This paper presents the development of a virtual environment for the training of autonomous omnidirectional drive vehicle control. The virtual system considers the virtualization of structured and unstructured environments. Therefore, the vir-tual environment considers the kinematic and dynamic models of the omnidirec-tional robot in order to simulate more realistically the behavior and motion con-straints of the robot. The implementation of the closed-loop control algorithms is considered in the MatLab software, for which a communication between the Uni-ty3D graphic engine and MatLab is considered through the use of DLL libraries. For the validation of the control algorithms on the virtual training environment, the construction of an omnidirectional traction vehicle in four-wheel configuration type Mecanum is considered. In addition, the constructed prototype will be used for the identification and validation of the mathematical models that represent its behavior. Finally, a usability analysis of the developed training system is present-ed.