Diseño y simulación de algoritmos de control basados en modo deslizante, espacio nulo y tipo PID, para seguimiento de trayectoria y evasión de obstáculos de una formación de robots móviles

Abstract

In the present project the control algorithms for trajectory tracking based on null space, sliding modes and PID type for a formation of three Pioneer 3AT mobile robots were developed and simulated. For all controllers were established a performance comparison by subjecting the training to different trajectories with obstacles in such a way that three different evasion algorithms were implemented with static and dynamic obstacles: evasion through trajectory planning, impedance evasion and evasion through potential fields. In the case of dynamic obstacles, potential fields and variation were used. temporal of potential fields, which were developed solely with the null space control law. The Matlab computer program was used to simulate and develop a graphical interface using GUIDE tools.