Experiment: 9
Student Name : Nakul Kalr a UID: 22BCS14904
Section/Group: 410-B Date of Performance: 08/05/23
Branch: CSE Subject Name: DT-2
Semester: 2nd Subject Code: 22ECH-103
1. Aim
Design a two-wheel line following robot integrated with sensors.
2. Tool Used
Coppeliasim
3. Basic Concept
• Coppeliasim
The robotics simulator CoppeliaSim (formerly V-REP), with integrated
development environment, is based on a distributed control architecture: each
object/model can be individually controlled via an embedded script, a plugin, a ROS
node, a remote API client, or a custom solution. This makes CoppeliaSim very
versatile and ideal for multi-robot applications. Controllers can be written in
C/C++, Python, Java, Lua, Matlab or Octave.
CoppeliaSim is used for fast algorithm development, factory automation
simulations, fast prototyping and verification, robotics related education, remote
monitoring, safety double-checking, as digital twin, and much more.
4. Procedure:
Step 1 : Get the BubbleRob in main scene.
Step 2 : Delete Vision sensor.
Step 3 : Go to Add → Path(closed).
Step 4 : (Optional) Edit Points of Path.
Step 4 : Go to Path property → Generate Extruded Shape.
Step 5 : Go to Add → Vision Sensor(Orthographic ) → Rotation → Around x(deg) :
180
Step 6 : Go to → Position → x = 0.2 , y = 2 , z = 0.018
Step 7 : Copy and Paste Vision Sensor → Go to → Position → z = 0.042
Step 8 : Copy and Paste Vision Sensor → Go to → Position → z = -0.042
Step 9 : Go to sensor property → Resolution → 1/1 → Ignore Depth
Step 10 : Add given code to BubbleRob and Path .
Step 11 : Play the animation.
5. Code
• BubbleRob Code
function sysCall_init()
bubbleRobBase=sim.getObject('.')
leftMotor=sim.getObject("./bubbleRob_leftmotor")
rightMotor=sim.getObject("./bubbleRob_rightmotor")
noseSensor=sim.getObject("./bubbleRob_sensingNose")
minMaxSpeed={50*math.pi/180,300*math.pi/180}
backUntilTime=-1 -- Tells whether bubbleRob is in forward or backward mode
floorSensorHandles={-1,-1,-1}
floorSensorHandles[1]=sim.getObject("./bubbleRob_leftSensor")
floorSensorHandles[2]=sim.getObject("./bubbleRob_middleSensor")
floorSensorHandles[3]=sim.getObject("./bubbleRob_rightSensor")
robotTrace=sim.addDrawingObject(sim.drawing_linestrip+sim.drawing_cyclic,2,0,-1,200,{1,1,0},nil,nil,{1,1,0})
-- Create the custom UI:
xml = '<ui title="'..sim.getObjectAlias(bubbleRobBase,1)..' speed" closeable="false" resizeable="false"
activate="false">'..[[
<hslider minimum="0" maximum="100" on-change="speedChange_callback" id="1"/>
<label text="" style="* {margin-left: 300px;}"/>
</ui>
]]
ui=simUI.create(xml)
speed=(minMaxSpeed[1]+minMaxSpeed[2])*0.5
simUI.setSliderValue(ui,1,100*(speed-minMaxSpeed[1])/(minMaxSpeed[2]-minMaxSpeed[1]))
end
function sysCall_sensing()
local p=sim.getObjectPosition(bubbleRobBase,-1)
sim.addDrawingObjectItem(robotTrace,p)
end
function speedChange_callback(ui,id,newVal)
speed=minMaxSpeed[1]+(minMaxSpeed[2]-minMaxSpeed[1])*newVal/100
end
function sysCall_actuation()
result=sim.readProximitySensor(noseSensor)
if (result>0) then backUntilTime=sim.getSimulationTime()+4 end
-- read the line detection sensors:
sensorReading={false,false,false}
for i=1,3,1 do
result,data=sim.readVisionSensor(floorSensorHandles[i])
if (result>=0) then
sensorReading[i]=(data[11]<0.5) -- data[11] is the average of intensity of the image
end
end
-- compute left and right velocities to follow the detected line:
rightV=speed
leftV=speed
if sensorReading[1] then
leftV=0.03*speed
end
if sensorReading[3] then
rightV=0.03*speed
end
if sensorReading[1] and sensorReading[3] then
backUntilTime=sim.getSimulationTime()+2
end
if (backUntilTime<sim.getSimulationTime()) then
-- When in forward mode, we simply move forward at the desired speed
sim.setJointTargetVelocity(leftMotor,leftV)
sim.setJointTargetVelocity(rightMotor,rightV)
else
-- When in backward mode, we simply backup in a curve at reduced speed
sim.setJointTargetVelocity(leftMotor,-speed/2)
sim.setJointTargetVelocity(rightMotor,-speed/8)
end
end
function sysCall_cleanup()
simUI.destroy(ui)
end
• Path Code
path=require('path_customization')
function path.shaping(path,pathIsClosed,upVector)
local section={-0.02,0.001,0.02,0.001}
local color={0.3,0.3,0.3}
local options=0
if pathIsClosed then
options=options|4
end
local shape=sim.generateShapeFromPath(path,section,options,upVector)
sim.setShapeColor(shape,nil,sim.colorcomponent_ambient_diffuse,color)
return shape
end
6. Results:
Learning outcomes:-
1. We have learnt about Robotic Development.
2. Learn how to use Coppeliasim .
3. Learnt about Designing models .
4. We learnt about positioning and orientation of various models
