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Mobile robots are applied to various industrial contexts, performing repetitive and highperformance tasks. One way of generating interest in the study of robotics in this context is through robotics competitions. The aim of this work is the development of a 3D mobile robotics simulator with hardware-in-the-loop capabilities. It includes developing models for standard components, such as time-of-flight sensors, wheel encoders, and direct current motors. The simulator interacts with development boards, programmed through Arduino-compatible libraries for communication with each robot component. By having the microcontrollers process each sensor’s output and determine the appropriate motor commands, the microcontroller’s limitations are present even during the simulation. The simulator contains different environments, where users have to complete challenges that require sensor data to be interpreted and motor commands to be calculated for different purposes, namely following walls, controlling the robot speed, and developing algorithms for completing the micromouse competition. A modification to the flood fill algorithm, commonly used in the micromouse competition, was proposed and analysed. It targets robots with a simple movement set, unable to perform turns while maintaining linear speed. The simulator was used in the RoboSTEM hackathon, where students were presented with the challenge environments and developed their solutions. It provided insights about the problems they were asked to solve and the simulator software itself.
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Mobile robots are applied to various industrial contexts, performing repetitive and highperformance tasks. One way of generating interest in the study of robotics in this context is through robotics competitions. The aim of this work is the development of a 3D mobile robotics simulator with hardware-in-the-loop capabilities. It includes developing models for standard components, such as time-of-flight sensors, wheel encoders, and direct current motors. The simulator interacts with development boards, programmed through Arduino-compatible libraries for communication with each robot component. By having the microcontrollers process each sensor’s output and determine the appropriate motor commands, the microcontroller’s limitations are present even during the simulation. The simulator contains different environments, where users have to complete challenges that require sensor data to be interpreted and motor commands to be calculated for different purposes, namely following walls, controlling the robot speed, and developing algorithms for completing the micromouse competition. A modification to the flood fill algorithm, commonly used in the micromouse competition, was proposed and analysed. It targets robots with a simple movement set, unable to perform turns while maintaining linear speed. The simulator was used in the RoboSTEM hackathon, where students were presented with the challenge environments and developed their solutions. It provided insights about the problems they were asked to solve and the simulator software itself.
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