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COBEM 2021
26th International Congress of Mechanical Engineering
Development of robotic system in open-source platform for mobile robot.
Submission Author:
Everton Silva Libânio , SP , Brazil
Co-Authors:
Everton Silva Libânio
Presenter: Everton Silva Libânio
doi://10.26678/ABCM.COBEM2021.COB2021-2068
Abstract
In mobile robots, it is very important to have a functional robotic system, which makes it possible to carry out predetermined paths and makes it possible to execute further tests with non-linear dynamic controllers. This system can also be used, in addition to running the routes, the monitoring of these paths, involving both positions and executed speeds, in order to be able to analyze the performance of future controllers to be used. The objective of this work is to show the stages of the development of a robotic system on an open-source platform, for mobile robots, from the description of the robot, through the stages of odometry system validation, modeling and validation of the motor parameters by simulation and the tuning of a proportional integral controller by the method of Direct Synthesis. Once this is done, a trajectory controller based on reference speeds is inserted. Sensors were also used to measure the electric current of the motors, in order to measure the torque exerted by the robot and the static Kalman filter was applied to improve the acquisition of signals, due to the noise caused by the PWM of the motor drivers. Finally, displacement monitoring tests of the robot are performed, using the following monitoring modes: manual measuring of distance and time, measurement made by the own robotic system with the control loop with PI controller, with the trajectory controller included and monitoring the displacement of the robot with the use of the LIDAR sensor (Light Detection and Ranging), so that, by comparisons, carry out the validation of the monitoring of the route.
Keywords
Mobile Robots, Static Kalman filter, LIDAR sensor, monitor robot displacement, Direct Synthesis method
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