Seguimiento de Trayectorias mediante cuatro Técnicas de Control utilizando una Plataforma Robótica Pioneer 3DX y el Sistema Operativo Robótico ROS

Abstract

Four different controllers were implemented in the robot Pioneer 3DX for the trajectory tracking and obstacle avoidance. Two controllers are based on numeric methods, using the Euler and the Trapezoid approximation. Besides a PID and a Sliding Mode Controller (SMC) are implemented. The latter uses the previously tuned PID as the sliding surface, and for this reason this controller can be considered a robust PID. For the synthesis of the first two controllers the complete model of the robot was used, and for the synthesis of the last two a reduced order model was considered. Then the platform was tested under different circumstances, with different speeds, trajectories and obstacles, and their performance was compared and evaluated. The controllers were implemented using language python within the environment of the Robot Operating System ROS and a graphic interface was created with the program QtCreator to supervise some aspects of the project using a computer communicated with the robot.