Desarrollo de un controlador robusto para orientación y desplazamiento de un vehículo terrestre no tripulado realimentado por visión artificial.
The present work exposes the development that was made to design a robust controller that used in the orientation and displacement of an unmanned land vehicle fed by artificial vision. For this, he analyzed the movement of the differential robot based on its kinematic equations and the direct curren...
| Autor Principal: | Tito Salmerón, Nadim Jacob |
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| Formato: | bachelorThesis |
| Idioma: | spa |
| Publicado: |
2018
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| Materias: | |
| Acceso en línea: |
http://dspace.ups.edu.ec/handle/123456789/15948 |
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| Sumario: |
The present work exposes the development that was made to design a robust controller that used in the orientation and displacement of an unmanned land vehicle fed by artificial vision. For this, he analyzed the movement of the differential robot based on its kinematic equations and the direct current (DC) motor was modeled with the help of the MATLAB identification system. Based on the above, the variables were found for the mathematical treatment of the guidance and guidance of the robot related to the angular velocity of the wheels and the orientation that describes the angle of deviation of the line with respect to the mobile robot.
To carry out this work, it was divided into the stages mentioned below. As a first step, with the help of MATLAB, the plant, the variables involved and the mathematical model of the system were identified, in order to characterize the system to be controlled. As a second stage, an algorithm was developed to identify a trajectory marked by a line using a Web camera and a computer programmed in MATLAB with artificial vision. In the third stage the algorithm of the robust controller (which in this work is a robust PID) was designed based on the angle of deviation between the line and the robot based on the characteristic ITAE parameters of (Dorf & Bishop, 2007). The fourth stage is the implementation of the robust PID control previously designed to test the unmanned vehicle in its orientation and displacement. In the fifth stage, a contrast was made on the performance of the robust PID controller with a conventional PID. Finally, in the sixth stage the work concludes mentioning some conclusions and recommendations. |
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