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Title:03: Path Planning with a Differential Drive Robot V-Rep/CoppeliaSim | Tutorial
Duration:48:25
Viewed:91,568
Published:17-07-2014
Source:Youtube

Step-by-step path planning and path following of a differential drive robot around obstacles with V-Rep / CoppeliaSim. This video shows how to implement path-planning and designs a simple path-following controller for a differential drive robots. The tutorial begins with a file, which can be downloaded at: https://nikolai-kummer.github.io/download/vrep-path-plan.zip Alternatively, you can use your own differential drive robot and follow along. The Virtual Robotics Experimentation Platform (V-REP) simulator, can be downloaded for free at http://www.coppeliarobotics.com/ . The contents are covered include: 0:00 - Introduction 1:37 - Addition of obstacles their properties 3:17 - Collection of objects 6:45 - Path planning dialog 15:12 - Intro: two options to follow the path 16:39 - Static object path following 19:57 - Differential drive robot kinematics theory + code 25:20 - Path planning dialog control via Lua script code 27:05 - Simple path following strategy 29:17 - Simple path following code (Functions: handles, path functions, transformation matrix) 40:48 - Robot stopping condition along the path 42:55 - Visualizing the robot trajectory (3d graph) 45:30 - Pages in V-Rep (top views, side views, etc.) 47:28 - Outro



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