Diseño, simulación y comparación de un controlador pid y un controlador basado en lyapunov para el desplazamiento de un robot humanoide nao v6 sobre un camino generado por un algoritmo de exploración rápida de árbol aleatorio -rrt

Abstract

The following paper presents the design, simulation and comparison of a PID controller and a Lyapunov-based controller for the displacement of a NAO V6 humanoid robot over a path generated by a rapidly exploring random tree algorithm -RRT FN.

To provide a safe space where simulation tests close to the reality of the Nao robot with different control algorithms can be performed, this whole project has been developed in a powerful robot simulator called CoppeliaSim.

Additionally, the implementation of a graphical interface developed in Qt Creator is presented, which allows the user to establish initial conditions and monitor the robot in its work environment.