CONTROL PUNTO A PUNTO PARA EL SEGUIMIENTO DE TRAYECTORIAS DE UN ROBOT M¶OVIL DE RUEDAS TIPO DIFERENCIAL

Abstract

The main goal in mobile robotics is to provide autonomy to a mobile robot and there are several issues to be solved to achieve this. Given the high complexity involved in this task, each of these issues are studied as an isolated problem by most researchers. One of these issues is trajectory tracking and it is related to robot navigation. In this work the trajectory tracking problem in a di®erential drive wheeled mobile robot is solved. The main contributions with respect to previous works performed at CIDETEC-IPN are 1) mobile robot can track more general trajectories which are not constrained to be parametrized curves and 2) the dynamical model is taken into account during the design stage. Trajectory tracking is accomplished in a point-to-point mode and a trajectory gene- rator is designed which receives a set of desired points and, as result, a smooth trajectory is generated by using cubic splines to interpolate such desired points. Chapter 1 is con- cerned with a literature review and with the statement of the general and the speci¯c objectives. The dynamical model of the wheeled mobile robot under study is analyzed in chapter 2. The controller is designed, by taking into account the dynamical model, in chapter 3. In this chapter, the trajectory generator is also presented. A simulation study as well as several real time experimental results are presented in chapter 4. Two experimental tests are presented: using a parametric trajectory and using a trajectory de¯ed by a set of desired points which are interpolated using cubic splines by the tra- jectory generator. Finally, some concluding remarks are presented in chapter 5 as well as a discussion on future work.