03: Path Planning with a Differential Drive Robot V-Rep/CoppeliaSim | Tutorial

Step-by-step path planning and path following of a differential drive robot around obstacles with V-Rep / CoppeliaSim.

This video shows how to implement path-planning and designs a simple path-following controller for a differential drive robots.

The tutorial begins with a file, which can be downloaded at: https://nikolai-kummer.github.io/down...

Alternatively, you can use your own differential drive robot and follow along. The Virtual Robotics Experimentation Platform (V-REP) simulator, can be downloaded for free at http://www.coppeliarobotics.com/ .

The contents are covered include:
0:00 - Introduction
1:37 - Addition of obstacles their properties
3:17 - Collection of objects
6:45 - Path planning dialog
15:12 - Intro: two options to follow the path
16:39 - Static object path following
19:57 - Differential drive robot kinematics theory + code
25:20 - Path planning dialog control via Lua script code
27:05 - Simple path following strategy
29:17 - Simple path following code
(Functions: handles, path functions, transformation matrix)
40:48 - Robot stopping condition along the path
42:55 - Visualizing the robot trajectory (3d graph)
45:30 - Pages in V-Rep (top views, side views, etc.)
47:28 - Outro