Interfacing MATLAB with with V-REP for easier development of warehousing robots
LE3 .A278 2019
2019
Shakshuki, Elhadi
Acadia University
Bachelor of Computer Science
Honours
Computer Science
Robots can be utilized for many environments, such as the warehouse environment. However, testing a new robot in a real environment is risky. It may damage the real robot or the environment. Although the Visual Robot Experimentation Platform (V-REP) is a proposed answer, it lacks a robot algorithm coding and debugging environment to implement and test complex robot control algorithms. However, MATLAB provides complex algorithms coding environment and a huge function library. In order to utilize V-REP and MATLAB together, it is required to establish an interface between them. The primary purpose of the project is to test and analyzethe basics of interfacing MATLAB with V-REP for easier development of warehousing robots. Specifically, the project focuses on the construction of the interface, prototyping complex control algorithms with MATLAB, and simulation of a warehousing robot with V-REP to test and debug the MATLAB algorithms in a simulated warehouse environment. The core implementations of this thesis are 1) the interface between MATLAB and V-REP, 2) robot's drive and rotate functions, and 3) visual representations of auto-navigation and computer vision algorithms. The implementation environment is for the robot to visually recognize and grasp square and elliptical objects on a given map and move them into the specified basket, throw them into it, and repeat the above instructions. Based on the performance of the robot, we will be able to test and validate the control algorithms prototyped in MATLAB. And, based on the testing result, we can prove that the interface between MATLAB and V-REP can help to establish an easier warehousing robot development process. The development process is divided into four parts: 1) establishing the warehouse environment and the robot object in V-REP, 2)fast prototyping the complex control algorithms in MATLAB, 3) coding an interface to connect MATLAB and V-REP platforms, and 4) testing and validation of the MATLAB algorithms. In the process of establishing warehouse environment and the robot object, I have carefully studied the knowledge theory of each part, injected my own thoughts and ideas into each part, and fused the essence of this project to successfully test and validate the complex control algorithms prototyped in MATLAB.
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https://scholar.acadiau.ca/islandora/object/theses:3338
