Diseño y simulación de esquemas de control tipo PID y espacio nulo para seguimiento de trayectoria y evasión de obstáculos aplicados a una formación heterogénea de dos robots móviles y un robot cuadricóptero

Abstract

The present work is oriented in the study and development of control schemes applied to a heterogeneous formation formed by two mobile robots and a quadcopter for trajectory tracking and obstacle avoidance. The controllers developed are PID type control and null-space-based control consisting of three tasks: form task, posture task and evasion task through potential fields; These tasks are placed hierarchically so that there is no conflict in them. Additionally, the dynamic models of each of the robots are considered, so in the control scheme an internal loop is added that allows the control of the dynamic models of the robots for speed tracking. The dynamic controllers designed are: PID control and sliding mode control (SMC). The controllers developed and applied to heterogeneous formation are tested through simulations in Matlab-Simulink software and the performance analysis is performed using the ISE performance index, which allows us to compare and know the best controller for each test performed.