TRAJECTORY TRACKING SIMULATION OF A WHEELED MOBILE ROBOT

This paper presents an event-driven structure for modeling trajectory tracking of a wheeled mobile robot. The robot’s controller is modeled by a virtual microcontroller. Control algorithms are implemented in event handlers, which can be viewed as analogs of interrupt handlers of a real microcontroller. The goal of the research was to create a simulator that allows testing trajectory control methods for wheeled robots, implemented as programs for microcontrollers operating as part of control systems. In this case, for one dynamic model of the robot, different control algorithms are implemented by different program code of the event handlers of the virtual controller. The feature of the developed simulator of the microcontroller control system for a wheeled mobile robot is that it allows testing the program code implementing the software implementation of the mobile robot control controller. This feature distinguishes this new type of simulator from simulators created using traditional methods and opens up good prospects for using such simulators in education for organizing laboratory work in disciplines related to the design of microcontroller control systems and allows using virtual equivalents of control system components that are not available or poorly suited for conducting full-scale experiments