Modeling and simulation of movement of dispersed group of mobile robots using Simscape multibody software
Michał Siwek, Leszek Baranowski, Jarosław Panasiuk, Wojciech Kaczmarek · AIP conference proceedings · 2019
The paper presents the step by step process of modelling the movement of dispersed group of mobile robots using the MATLAB Simulink and Simscape Multibody software. As a modelled object, a group of laboratory robots, TurtleBot2, was adopted. First, the construction of a robot CAD model was described. Next, the control system developed in Simulink was described. At the end, the robot components were defined in Simscape Multibody and a group movements analysis was carried out.