Simulation Based Control Architecture Using Webots and Simulink

TL;DR

This paper introduces a simulation-based control architecture combining Webots and Simulink to facilitate efficient development, testing, and validation of robotic control systems, reducing hardware dependency and costs.

Contribution

It presents a novel integrated simulation framework that leverages Webots and Simulink for modular and cost-effective robotic control development.

Findings

Enables real-time testing and validation of control algorithms

Reduces hardware-in-the-loop dependency during early development

Offers a cost-effective, modular control framework for various applications

Abstract

This paper presents a simulation based control architecture that integrates Webots and Simulink for the development and testing of robotic systems. Using Webots for 3D physics based simulation and Simulink for control system design, real time testing and controller validation are achieved efficiently. The proposed approach aims to reduce hardware in the loop dependency in early development stages, offering a cost effective and modular control framework for academic, industrial, and robotics applications.