Створення віртуального прототипу мобільного робота в середовищі Webots

Abstract

The paper investigates the process of creating a digital twin of a mobile robot in the Webots environment. A 3D geometry adaptation method is presented, which includes an intermediate processing stage in the Blender editor: scaling the model, optimizing the polygonal mesh, and setting the reference points. The integration of the processed model through the Mesh node in the Shape structure is described, which made it possible to achieve high visual correspondence to the real prototype based on Arduino. The advantages of using a hybrid collision model to increase the stability of the physical simulation are considered.