RosDrive: An Open-source ROS-Based Vehicular Simulator for STEM Control Systems Classes Tutorial
Ref: CISTER-TR-220201 Publication Date: 2022
RosDrive: An Open-source ROS-Based Vehicular Simulator for STEM Control Systems Classes TutorialRef: CISTER-TR-220201 Publication Date: 2022
The study of control systems in the engineering courses is quite complex, given the difficulty of some teachers in exemplifying and allowing the student to understand how such systems affect the environment. In this context, the STEM methodologies aim to fill this gap between the traditional classes and the student comprehension of the topic through the active learning process. Realistic open-source simulators can be interpreted as one solution for this STEM implementation, allowing students to test, modify and create different configurations and sensors with a low-cost environment.
This work presents a flexible open-source 3D simulation framework, based on ROS, of a line follower vehicle, using an embedded PID controller, a camera for processing and detecting lines, and sonars for detecting and avoiding obstacles. This simulator integrates several controller systems, allowing the student to build consistent skills in control and related areas, analyze the impacts of models configurations, and extends its knowledge to new techniques.
Chapter in book ROS BOOK Vol 7, Springer, Edited: Anis Koubaa.