Diseño y simulación de un sistema de teleoperación de un robot humanoide nao: diseño y simulación de algoritmos de evasión de obstáculos para un humanoide nao.

Abstract

The following document presents the design and simulation of the obstacle avoidance algorithm obtained from the model of a differential robot and the subsequent application to NAO humanoid with the method of fictitious forces. For this it is necessary the implementation of a cascade control for which the position controller was performed by a Lyapunov-based controller, while for the obstacle avoidance was performed by the impedance algorithm. The obstacle avoidance algorithm was tested in the CoppeliaSim simulation environment, a tool that offers conditions close to reality. Subsequently, the NAOqi library is reviewed, which is very useful to execute the commands provided by the Choregraphe software using the Python software. This last software will serve as a communicating element between MATLAB and Coppelia, using UDP communication. The development of the position controller implemented with Lyapunov-based control for a model of a unicycle robot is also shown. In addition, the controller for obstacle avoidance with the fictitious forces algorithm is shown. For the tests of the controller mentioned above, it is simulated in the Coppelia environment, for which it is necessary to model the robot sensors since they are not disponible. Finally it is shown the development of the user interface made with MATLAB Guide for the appreciation of variables set in the system.