Mobile Robot with Modbus RTU Connectivity to Arduino Microcontroller for Remote-Online Education in Control Systems

The differential drive robot with two wheels is a basic configuration of a mobile robot that is suitable for mechatronics and robotics engineering education. This work uses 3D computer graphics to make the computational simulation of the locomotion and kinematics of the virtual mobile robot in Unity. In this virtual robotic system, the main challenge for the user is to develop a control algorithm using an Arduino microcontroller, there are two scenarios, one is to navigate through a maze and the second is to follow any desired trajectory in an obstacle-free plane. The virtual robot accepts commands to the motors coupled to the wheels, simulated proximity sensors and position encoders of the wheels are available to close the control loops. This virtual mobile robot uses the Modbus open communication protocol and is connected in such a way that the Arduino controller can be remotely programmed. To validate the developed system, two algorithms were developed, one to test the navigation in the maze and the second to follow an optimal trajectory. Both implemented control algorithms showed an adequate response for the intended application. The developed system is found to be useful for robotics and control engineering education.