Planificación y seguimiento de caminos de manera autónoma para robots móviles tipo uniciclo.

Abstract

The objective was the simulation, implementation of planning and path tracking in an autonomous way for unicycle-type mobile robots, considering a structured work environment. For the simulation the Matlab mathematical software tool was used, while the experimental tests were performed with the mobile robot built in the research project "Cooperative bilateral teleoperation of multiple

mobile manipulators", implemented by the Escuela Superior Politécnica de Chimborazo, Universidad Técnica de Ambato, Escuela Politécnica Nacional and the Universidad de las Fuerzas Armadas. The kinematic and dynamic characteristics of a unicycletype mobile robot, are specified as a starting point, then it is proposed a path planning algorithm

based on fast scan algorithms of random trees(RRT) for a structured environment, after carrying

out the path planning, a control scheme is implemented to monitor it autonomously. As a final

point paths without collisions are obtained from an initial configuration to a final configuration,

with tracking errors less than 0.02 [m].

It is concluded that with the use of the RRT algorithm a

configurations

tree is created, randomly exploring the entire work environment until finding a solution or even a certain number of iterations; it is important to consider the mobile robot's radius in the exploration to obtain a solution far enough away from the obstacles and avoid collisions. It is recommended to study the results and material obtained in this degree work for use in other future projects in which the work environment is partially structured, and by means of the proximity sensors position the obstacles in the study environment, creating a reactive search of the path.