Construção, modelagem e controle de um robô móvel de acionamento diferencial
Mobile robots are increasingly being used by industry for their commitment to product flexibility, productivity and quality. The main problem with mobile robotics is to generate trajectories and guide their movement to accomplish tasks. This work implements the simulation of a differential drive mob...
| Autor principal: | Rodrigues, Ronaldo Mohr |
|---|---|
| Formato: | Trabalho de Conclusão de Curso (Graduação) |
| Idioma: | Português |
| Publicado em: |
Universidade Tecnológica Federal do Paraná
2020
|
| Assuntos: | |
| Acesso em linha: |
http://repositorio.utfpr.edu.br/jspui/handle/1/15801 |
| Tags: |
Adicionar Tag
Sem tags, seja o primeiro a adicionar uma tag!
|
| Resumo: |
Mobile robots are increasingly being used by industry for their commitment to product flexibility, productivity and quality. The main problem with mobile robotics is to generate trajectories and guide their movement to accomplish tasks. This work implements the simulation of a differential drive mobile robot and develops control techniques to solve the path tracking problem. The linear-quadratic regulator (LQR) was designed and simulated considering a kinematic model of the system and ensures that the robot follows a calculated path. |
|---|