PUBLICACIÓN
Low-cost Hardware-in-the-loop Testbed of a Mobile Robot to Support Learning in Automatic Control and Robotics
ACCEDER A LA PUBLICACIÓN:
Tejado I., Serrano J., Perez E., Torres D., Vinagre B.M.
2016 IFAC-PapersOnLine
Control and Systems Engineering (Q3)
SJR: 0.234
CITAS
25
DOI
10.1016/j.ifacol.2016.07.184
EID
2-s2.0-84994832171
EISSN
2405-8963
BIBTEX
@article{TEJADO2016242, title= {Low-cost Hardware-in-the-loop Testbed of a Mobile Robot to Support Learning in Automatic Control and Robotics**This work has been supported by the Spanish Ministry of Economy and Competitiveness under the project DPI2012-37062-C02-02 and the Junta de Extremadura under the Ayuda a Grupos with reference GR15178.}, journal= {IFAC-PapersOnLine}, volume= {49}, number= {6}, pages= {242 - 247}, year= {2016}, note= {11th IFAC Symposium on Advances in Control Education ACE 2016}, issn= {2405-8963}, doi= {https://doi.org/10.1016/j.ifacol.2016.07.184}, url= {http://www.sciencedirect.com/science/article/pii/S2405896316303901}, author= {Inés Tejado and Juan Serrano and Emiliano Pérez and Daniel Torres and Blas M. Vinagre}, keywords= {Education, Control, Testbed, Simulink, Arduino, Mobile robot}, abstract= {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.}}
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