摘要：AbstractThis paper describes a new module to create advanced simulations with theKhepera IVmobile robot inV-REPsimulator. The library, calledKH4VREP, allows users to add aKhepera IVmodel to a new or an existingV-REPsimulation. TheKH4VREPlibrary depicts a graphical representation of theKhepera IVmodel, and also provides several methods to programmatically read and manipulate the sensors and actuators of the robot. The visual design of the model has been developed using Autodesk Inventor. The library provides functionality to test the mobile robot under different control problems such as: position control, trajectory tracking, path following, obstacle avoidance, and multi-robot experiments with formation control.
