Presentación y validación de un nuevo prototipo de plataforma móvil junto a su modelo matemático para la realización de tareas de exploración FULL COVERAGE.

Abstract

The objective was to design and validate a new prototype of mobile platform, along with its mathematical model to perform exploration tasks FULL COVERAGE, whose main contribution is the new configuration of the positioning of tires on the mobile platform. The first phase consisted in designing the planes of the platform in Solidworks. The next step was to find the mathematical model that governs the displacement of the designed platform; Based on the mobile geometry, the third phase consisted in the development of tests with the designed platform and the last phase was to develop a program using the Matlab Software, which allows to apply the mathematical model found to simulate the displacement of the platform, according to different voltages applied to the wheels. Fifteen types of tests were carried out, with different values of voltage, the same ones that allowed to validate the operation of the platform. The program developed in Matlab allowed the application of the mathematical model found, showing by simulation a behavior analogous to the actual behavior of the platform. It is advisable to implement a speed control system in real time, for the wheels, in order to improve the performance of the platform.