Simulink-controlled multi-robot simulation with gazebo and ROS integration

Abstract

In the evolving realm of robotics research and education, the amalgamation of Simulink, Gazebo, and ROS has birthed a dynamic multi-robot simulation environment. This project’s primary objective is to provide an immersive educational tool for simulating and controlling multiple robots using Simulink within Gazebo’s dynamic environment. It emphasizes the complexities of managing a fleet of robots, showcasing the interaction and coordination inherent in multi-robot systems. The key components of the project include the Simulink model, functioning as the central control hub with ROS Publisher and Subscriber blocks for real-time communication with Gazebo. The Gazebo simulation, rooted in robust physics-based capabilities, serves as a dynamic platform for robots to navigate intricate terrains. The ROS integration acts as the backbone, seamlessly connecting Simulink and Gazebo, enabling the exchange of control commands and sensor data, resulting in a synchronized multi-robot system. The project also explores the fundamental components of ROS, such as nodes, topics, messages, and the ROS Master, highlighting the communication architecture. Additionally, it delves into the key components of Gazebo, including the simulation world, models, physics engine, and sensors, underlining its integration with ROS. In terms of architecture, design, implementation, and validation, the project adopts a modular approach with Simulink model components and ROS nodes. The Simulink model communicates with Gazebo through ROS publisher and subscriber blocks, facilitating real-time interaction. Future plans include expanding the project with diverse robot models and investigating more intricate communication patterns among robots, aiming to broaden its applicability in varied scenarios.