ANÁLISIS E IMPLEMENTACIÓN DE SENSORES AL ROBOT MÓVIL TIPO DIFERENCIAL

Abstract

This paper presents the analysis for infrared sensors by reflection to an object and incremental optical encoders responsible for providing the information necessary for the control system in a differential type mobile robot, since according to their characteristics operation allows its subsequent implementation. Therefore, are explained necessary items as the description of an sensor, the more classification of sensors used in mobile robot applications, a study of the infrared sensors and the incremental optical encoders, a brief other description of sensors used in the mobile robotics applications, description of the analog and digital sensors, also the analog-digital conversion and digital-analog conversion. This includes all the necessary information for the theoretical framework. Later in chapter two we studied the characteristics for the mobile robot, beginning to separate its components parts for analyze them from in particular form, as the system parameters robotic, the geometric design of mechanical structure with the planes of each of its parts, the actuators are responsible for providing the movement to the robot, the type and arrangement of its wheels and finally the characteristics of the battery, all in base the current state of the mobile robot. With the above known the operating characteristics of each of its elements, allowing the acquisition of the sensors responsible for providing the Info internal and the environment next a mobile robot, for to navigate autonomously a equidistant distance the walls in a room and in turn allows detection and evasion of obstacles. This is shown in chapter three “The implementation of mobile robot sensors". For the previous task were implemented incremental optical encoders and infrared sensors, which are respectively responsible for providing information to control the position of its axis of rotation and for stable trajectories along the way, as well as to provide information on the distance from the walls and proximity to objects within a room to avoid colliding with them. All this implemented to the current structure of the mobile, showing the location of the sensors inside the robot system. Finally, appropriate tests were conducted to the sensors and the rest of the system comprising: circuitry, mechanical structure and general to the differential type mobile robot, in order that it meets the objective.