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This tutorial will show you how to implement a simple path planning differential drive robot in VREP. The tutorial can be found on YouTube.

 

The files that are used in the tutorial can downloaded from here.

 

The following topics are covered:

0:00 – Introduction

1:37 – Addition of obstacles their properties

3:17 – Collection of objects

6:45 – Path planning dialog

15:12 – Intro: two options to follow the path

16:39 – Static object path following

19:57 – Differential drive robot kinematics theory + code

25:20 – Path planning dialog control via Lua script code

27:05 – Simple path following strategy

29:17 – Simple path following code (Functions: handles, path functions, transformation matrix)

40:48 – Robot stopping condition along the path

42:55 – Visualizing the robot trajectory (3d graph)

45:30 – Pages in V-Rep (top views, side views, etc.)

47:28 – Outro