Simulación de controladores de seguimiento de trayectoria basados en inteligencia artificial para un robot humanoide NAO : Simulación de un control basado en lógica difusa para el seguimiento de trayectorias de un robot humanoide.

Abstract

This paper presents the design and simulation of an artificial intelligence-based controller for the trajectory tracking of a humanoid robot NAO using fuzzy logic technique. The development of a high-level control system for the NAO robot is proposed, using a kinematic controller type PD based on fuzzy logic with trajectory compensation, and starting from the direct kinematic model of a mobile robot. The controller is implemented in the Matlab/Simulink interface and a UDP communication is established with the simulation environment of the robot in CoppeliaSim Edu software. This document describes the connection and the execution of the various programs required to achieve a successful data transfer between Matlab/Simulink and CoppeliaSim Edu. The results obtained from the fuzzy controller are analyzed and compared with a conventional Proportional Derivative (PD) controller, so that the differences in control performance and tracking accuracy of the different proposed trajectories can be clearly demonstrated and evidenced.