The study presents a Virtual Reality (VR) technique that is used
in the construction of a nonholonomic Wheeled Mobile Robot (WMR) simulator
for the experimentation of robotic control algorithms. The modelling of
the proposed simulator involves motion planning, motion control and the
application of a VR technique that employ a number of strategies and algorithms.
The role of a trajectory planner as the interface mechanism between the
motion planner and controller is particularly highlighted to facilitate
the overall design of the simulator. The interlinking between the main
components is also relevantly described prior to the execution of a simulation
study that takes into account a number of operating and loading conditions.
A case study includes the application of different control schemes to
the WMR that is executing a tracking task with disturbances applied at
its actuators in a virtual Computer Integrated Manufacturing (CIM) environment.
Results of the study indicate the effectiveness of the proposed simulator
in demonstrating the WMR capability to manoeuvre desirably towards its
target destination while at the same time avoiding the collision with
obstacles along its travelled path.