Simulador Gráfico para Controle de Robôs Móveis Omnidirecionais

The development of this graphical simulator for mobile robots aims to supply a computati- onal graphical tool that assists, through graphs and animation, the project and analysis of control laws for wheeled mobile robots, as much concerning definiton of control technique as as to the tunning of controller's parameters. The developed interfaces allow the user to define among all 5 different classes of wheele mobile robots, simulation and control parameters, supplying the independent visualization of all necessary information to the designer, while the task execution is execute. The kinematics and dyna- mics models developed are for the omnidirectional wheeled mobile robots, however, the structure of the simulator was developed to support all classes of wheeled mobile robots. The implementation of such tool is presented as an interesting form of education and knowledge acquisition in disciplines that involve mobile robotics and techniques of control for such systems.