Low-cost Hardware-in-the-loop Testbed of a Mobile Robot to Support Learning in Automatic Control and Robotics^*

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• 作者：Iné ; s Tejado ^{itejbal@unex.es" class="auth_mail" title="E-mail the corresponding author} ; Juan Serrano ^{jserranokc@alumnos.unex.es" class="auth_mail" title="E-mail the corresponding author} ; Emiliano Pé ; rez ^{emilianoph@unex.es" class="auth_mail" title="E-mail the corresponding author} ; Daniel Torres ^{datglez@unex.es" class="auth_mail" title="E-mail the corresponding author} ; Blas M. Vinagre ^{bvinagre@unex.es" class="auth_mail" title="E-mail the corresponding author}
• 关键词：Education ; Control ; Testbed ; Simulink ; Arduino ; Mobile robot
• 刊名：IFAC-PapersOnLine
• 出版年：2016
• 出版时间：2016
• 年：2016
• 卷：49
• 期：6
• 页码：242-247
• 全文大小：1499 K

文摘

Hardware-in-the-loop (HIL) systems are recognized to be effective tools to support teaching in Controls, especially in laboratory courses, rather than only simulations, since a more realistic student experience is achieved with no need of the use of a real equipment. This naturally leads to a better use of the resources for both the students and the university facilities and a reduction of costs invested in laboratory equipment. This paper presents a low-cost HIL application for a mobile robot to support learning in Automatic Control and Robotics. It consists of a simulator of the robot, which is built by means of physical modeling tools in the MATLAB®/Simulink® environment, and an Arduino Yún board. The communication between the simulator and Arduino is done by TCP/IP. For illustration purposes, some examples of possible control coursewares to be carried out using the developed testbed are given.