Coordinación de robots móviles mediante un controlador-observador no lineal basado en el error de posición de las unidades móviles.
In this document we present the design of a nonlinear controller based on position and orientation error in order to coordinate the movement of two mobile robots using the leader-follower strategy. Initially, the mathematical model of the differential robot is described, expressed in terms of ordina...
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| Format: | Trabajo de grado (Pregrado y/o Especialización) |
| Language: | spa |
| Published: |
Universidad Antonio Nariño
2021
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| Online Access: | http://repositorio.uan.edu.co/handle/123456789/2238 |
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| Summary: | In this document we present the design of a nonlinear controller based on position and orientation
error in order to coordinate the movement of two mobile robots using the leader-follower
strategy. Initially, the mathematical model of the differential robot is described, expressed in
terms of ordinary linear differential equations, which were simulated and validated using the
Matlab software. In Chapter 3 a state observer is proposed to estimate the angular velocity of
the differential robot, which will be used for the implementation of the controller. Then it is
describe the controller that aims to coordinate mobile robots to follow a path described by a parametric
curve, where the leading robot has the reference parametric curve incorporated which
will follow the other mobile robots. Finally, remarks and conclusions are presented, taking into
account obtained results and future work. |
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