This video presents a dynamic simulation of a Roomba to serve as a testbed for implementation of cleaning patterns in the Chimera extension (under construction http://chimera.hoo-box.com/ ).
At first the robot is briefly controlled manually via a GUI (controlling the linear and angular velocities). Then, the robot is asked to perform a cleaning spiral. Finally, the operator set the "point to Go" cleaning mode, where he clicks on the video feedback to define the robot s target position.
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