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

Abstract

This report presents the development of a Simulink-Controlled Multi-Robot Simulation system integrated with Gazebo and ROS, tailored for robotics education and research. The core objective of the project is to provide a comprehensive tool that facilitates the simulation, control, and coordination of multiple robots in a dynamic environment. The integration of Simulink as the control hub, along with ROS and Gazebo, creates a robust simulation platform that mimics real-world robotic interactions. A significant focus of the project, is on enhancing multi-robot communication and developing effective control mechanisms. Report explores the practical aspects of controlling multiple robots through user inputs and automated systems, emphasizing the challenges and solutions in coordinating actions among different robots. Techniques such as keyboard-driven commands and simultaneous operation of multiple robots are tested in varied simulation scenarios, demonstrating the system’s capability to handle complex interactions. Project also introduces a feedback controller designed to direct robots towards specified goals with high precision. The chapter details the algorithmic approach for autonomous navigation, including path planning and adaptive response strategies, essential for navigating through unpredictable environments. This feedback controller is crucial for refining the robots’ performance, ensuring they respond accurately to dynamic changes and obstacles in their path. Overall, this project not only serves as an educational tool but also as a platform for advancing research in robotics. The successful integration of multiple control and communication techniques in this simulation environment provides valuable insights into the complexities of multi-robot systems and lays the groundwork for future innovations in robotic technologies.