Diseño e implementación del control de la formación de un grupo de robots móviles terrestres de tamaño reducido enfocado al seguimiento de trayectoria basado en el sistema operativo robótico (ROS)

Abstract

This project presents the design and implementation of an experimental testbed for the control formation of three small-sized mobile robots focused on trajectory tracking. For the control design a cascade architecture is proposed. It consists of an internal PID speed loop in series with an external controller that maintains the desired formation and posture of the group at all times.

The robot pose tracking in the work area is based on artificial vision with the help of the ArUco reference markers. The monitoring system together with the communication and control systems are implemented in ROS (Robotic Operating System). This framework facilitates the interconnection between these modules. In addition, an HMI developed in QT Creator allows to change parameters of the internal and external controllers, to setup different tests and visualize their results.

The proposed control scheme is validated by using different predefined trajectories including disturbances in some cases. The experimental results demonstrate the effectiveness of the designed controller on maintaining the group formation while tracking a desired path.