Application of a ROS / CoppeliaSim Integration in a Practical ”OBR” Competition Scenario

• Carlos Fernando Joventino IFSP
• André de Oliveira UTFPR
• João Alberto Fabro UTFPR
• Jonathas Pereira IFSP

Abstract

This work presents an integration of the CoppeliaSim robotics simulator together with ROS in a scene inspired by a stage in the practical modality of the Brazilian Robotics Olympics (OBR). A differential-type robot with 5 proximity sensors and 6 luminance sensors was used in the project. The dimensional characteristics of the robot and the position of the sensors, in addition to navigation control and obstacle avoidance strategies are presented throughout the work. The main objective is to allow students to understand the characteristics of the OBR challenges, and to study and interact with a robot in a simulated environment. The robot behavior is implemented using a PD (Proportional Derivative) controller for line-following, and a simple fuzzy controller for obstacle avoidance.

Keywords: Robots, Sensors, Robot sensing systems, Mobile robots, PD control, Navigation, Wheels, Educational Robotics, Robot Simulation, Robot Operating System(ROS), Brazilian Robotics Olympiad(OBR)