QBOT: An educational mobile robot controlled in MATLAB Simulink environment

摘要

This paper describes Quanser's mobile robot control framework (QMRCF) for an educational robot called Qbot. The QMRCF accelerates the development of mobile robot control algorithms and hardware-in-the-loop (HIL) testing using model-based design techniques of matlab simulink. This paper also validates the performance of QMRCF using several experiments in various research fields of mobile robotics, e.g., teleoperation, navigation, and obstacle avoidance.