🤖 Webots Robot Control Tutorial

Welcome to the Webots Robot Control Tutorial repository! This project is a curated collection of robot control examples and sensor interfacing using the Webots simulator. It covers fundamental techniques such as Bang-Bang, PID, Fuzzy Logic controllers, as well as sensor-based feedback systems. Designed for students, educators, and robotics enthusiasts.

---

📂 Project Structure

.
├── LICENSE
├── README.md
└── Tutorial
    ├── controllers/                  # Python-based Webots controllers
    │   ├── bangbang_controller_wall_following/       # Bang-bang control example
    │   ├── fuzzy_logic_controller_wall_following/    # Fuzzy logic wall following
    │   ├── pid_controller_wall_following/            # PID-based wall following
    │   ├── motor_teleoperation/                      # Manual motor control
    │   ├── sensor_accelerometer_gyroscope/           # IMU sensor reading
    │   ├── sensor_odometer_calculation/              # Odometer calculation example
    │   ├── sensor_proximity/                         # Single proximity sensor
    │   └── sensor_ultrasonic/                        # Multiple ultrasonic (proximity) sensors
    ├── requirements.txt               # Python dependencies (if any)
    └── worlds/
        └── arena.wbt                 # Simulation world for all tutorials

---

🚀 Getting Started

🛠️ Requirements

• Webots Simulator (version 2023+ recommended)
• Python 3.x (with Webots Python controller bindings)
• [Optional] pip install numpy scikit-fuzzy (for fuzzy logic controller)

▶️ Running a Simulation

1. Open Webots and load the arena.wbt world from the Tutorial/worlds/ directory.

2. Choose the desired controller from Tutorial/controllers/ by:

   • Right-clicking on the robot
   • Selecting "Controller"
   • Choosing the appropriate controller script

3. Run the simulation and observe the behavior.

---

📘 Controllers Description

Controller Directory	Description
bangbang_controller_wall_following/	Implements simple bang-bang wall-following based on threshold distance.
pid_controller_wall_following/	PID control for smoother wall-following with continuous feedback.
fuzzy_logic_controller_wall_following/	Uses fuzzy logic rules to navigate by maintaining distance from the wall.
motor_teleoperation/	Enables manual control of robot motors using predefined commands.
sensor_accelerometer_gyroscope/	Reads IMU values (acceleration and rotation) from the e-puck robot.
sensor_odometer_calculation/	Demonstrates basic odometry calculation using wheel encoders.
sensor_proximity/	Prints readings from a single proximity sensor (ps0).
sensor_ultrasonic/	Reads and displays values from all 8 e-puck proximity sensors.

---

🎯 Learning Goals

By exploring this repository, learners will be able to:

• Understand and compare different robot control techniques.
• Interface various onboard sensors in Webots.
• Implement reactive and feedback-based control.
• Simulate realistic robotics scenarios and evaluate algorithms.

---

📦 Requirements

Install Python libraries only if you're running advanced control logic (e.g. fuzzy):

pip install numpy scikit-fuzzy

For default use, Webots comes with all necessary Python controller bindings.

---

🧑‍💻 Author

Developed by 2black0

---

📄 License

This project is licensed under the MIT License

---

✨ Contributions and feedback are welcome! Feel free to open issues or submit pull requests.