Projeto de um veículo autônomo capaz de cobrir uma área poligonal sem passar mais de uma vez pela mesma região
This work describes the design of trajectory generation and tracking algorithms applied to differential wheeled mobile robots which must fully cover predefined areas. The movement is done with constant speed and in a way of preventing the robot from going over the same region more than once. Prop...
| Autor principal: | Bracht, Marcos Paulo Pettermann |
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| Formato: | Trabalho de Conclusão de Curso (Graduação) |
| Idioma: | Português |
| Publicado em: |
Universidade Tecnológica Federal do Paraná
2020
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| Assuntos: | |
| Acesso em linha: |
http://repositorio.utfpr.edu.br/jspui/handle/1/15825 |
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| Resumo: |
This work describes the design of trajectory generation and tracking algorithms applied to differential wheeled mobile robots which must fully cover predefined areas. The movement is done with constant speed and in a way of preventing the robot from going over the same region more than once. Proportional and proportional-derivative controllers are used for wheel speed control and trajectory tracking, respectively. The codes are tested through a simulator. |
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