Modeling and Control of a Multi-Robot System Based on Handy Board Platform-Edición Única
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Abstract
This thesis belongs to the Master in Science in Automation: Control Engineering of the Graduates’ Program in Engineering.
Nowadays there are many applications of wheeled mobile robots (WMR) including: the development of cooperative robots in dangerous tasks for the human being, and the development of robots dedicated to the entertainment. In the last category exists applications in which, the entertainment turns into a challenge of creation and control inside a competitive environment. A specific case is the application of mobile robots in cooperative or competitive stages such as navigation competitions and soccer games. Accurate path and position control determine the performance of the WMR in this type of applications. This work consists of the control of a multiple system of WMRs that interact in a field (a common space).
There have been existed applied control techniques based on classic, adaptive, sliding-mode, predictive, robust, modern and nonlinear control. Given the complexity of the plant that a WMR represents, the control techniques implemented consume a lot of computational process. In a competition environment the processing time represents a crucial factor in the performance of the WMR.
This thesis goal is try to obtain a better performance, in consumption of computational resources and reduction of complexity, by means of the application of a fuzzy controller with regard to a scheme of classic control. The goal is based in the application of a control scheme that covers the four automation levels reachable by a process.
Keywords: Wheeled Mobile Robot, Autonomous Navigation, Fuzzy Control, Classical Control.