This application was designed to control a Turtlebot with a ROS interface. The application consists of three classes: 1) kinectViewer, 2) closedLoopTurtle, and 3) mobileRobotController.
The main application class is the mobileRobotController, and this class relies on kinectViewer to display 3D sensor data, and closedLoopTurtle to handle the closed loop control of the Turtlebot. The controller is a simple 'P' controller which relies on the wheel encoders of the robot.
You can dynamically switch between simulation and physical hardware via a dropdown menu.
MathWorks Student Competitions Team (2021). Mobile Robot Controller (https://www.mathworks.com/matlabcentral/fileexchange/53564-mobile-robot-controller), MATLAB Central File Exchange. Retrieved .
MATLAB Release Compatibility
Platform CompatibilityWindows macOS Linux
- Image Processing and Computer Vision > Image Acquisition Toolbox > Image Acquisition Toolbox Supported Hardware > Kinect For Windows Sensor >
- Image Processing and Computer Vision > Image Acquisition Toolbox > Image Data Acquisition > Acquisition Using Kinect for Windows Hardware >
- Robotics and Autonomous Systems > ROS Toolbox >
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