Estudo e criação de um tutorial didático sobre a toolbox Mobile Robotics Simulation no MATLAB para definição de caminhos de um robô móvel com quatro rodas mecanum

Abstract

This paper presents the development of an educational tutorial for installing, configuring, and using the Mobile Robotics Simulation (MRS) and Mobile Robotics Training (MRT) toolboxes in the MATLAB/Simulink environment, with a focus on supporting the teaching and learning of mobile robotics. The main objective is to provide a practical step-by-step guide that allows students and beginners to reproduce mobile robot simulations, understand the main concepts involved, and create their own simulation scenarios. The tutorial describes everything from preparing the work environment and installing the toolboxes to using their main features, including simulating the kinematics of mobile robots, configuring sensors, and visualizing movement on occupancy maps. The use of the Simulation Map Generator application for creating maps from images is also presented, enabling the definition of customized environments for simulation. As a practical demonstration of the content presented in the tutorial, a simulation model of a robot with Mecanum wheels in Simulink is described, using blocks from the MRS toolbox to represent inverse kinematics, direct kinematics, distance sensor simulation, and visualization of the robot in a two-dimensional environment generated by MRT. This example is illustrative and educational in nature, serving as a reference for the application of the concepts covered. Thus, the main result of the work is the availability of structured teaching material that can be used as support in courses, academic projects, and introductory activities in mobile robotics, facilitating the use of the MRS and MRT toolboxes in an educational context.