Diseño y construcción de un robot móvil autónomo en configuración diferencial para la localización en interiores usando odometría.

Abstract

The aim of this research was to design and construct an autonomous mobile robot in a differential configuration for indoor localization using odometry. The robotic system development began with the mathematical modeling of the mobile robot in differential configuration and a trajectory tracking control based on Lyapunov stability to obtain the speeds that the robot must have to follow the desired trajectory. All the mathematical bases described have been programmed in Matlab to perform the robot displacement simulation by applying two-path planning algorithms, PRM and Hybrid A*, to generate the optimal trajectory to reach the desired point by avoiding obstacles within a known map. The design stage included the study of the mechanical and electronic components that make up the prototype. Arduino made a PID control for the motors to reach the speeds calculated with the trajectory tracking power. Also, they obtain the position and orientation through the odometry sent to Matlab to show its real displacement in a 3D simulation. The communication between Matlab and Arduino was done using two radio frequency modules. The tests have been performed on a flat MDF wooden board to avoid friction of the robot tires with the surface. The tests performed on three different trajectories have resulted in an average displacement error of ± 1.1 cm on the X-axis and ± 1.6 cm on the Y-axis concerning the desired positions. We conclude that the best planner is the A*Hybrid algorithm by offering more excellent smoothness in the curves of its trajectories and a shorter execution time to reach the desired position.