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Hardware in the Loop of an Omnidirectional Vehicle Using Augmented Reality

Abstract:

This article presents the development of a Hardware-in-the-Loop (HIL) system with an augmented reality environment, which allows interaction with an omnidirectional vehicle, the proposed system is designed to develop monitoring and manipulation skills, allowing the user to select or manipulate trajectories from the computer and observe the behavior of the robot in the AR application. The environment has been created using CAD tools and the Unity 3D multiplatform that, combined with MATLAB, exchanges information in real time to execute the simulation of the omnidirectional movement of the vehicle, achieving a high degree of immersion, this technological tool serves as a contribution within the sector educational, providing simulation programs with new, more realistic and intuitive immersion technologies. The experimental tests allow the user to interact with the augmented environment and understand the operation of an omnidirectional vehicle, its structure and behavior when carrying out different trajectories selected by the user and using control algorithms, as well as the application of augmented reality. It demonstrates easy handling and ease of use.