Implementação em Simulação de um Controlador PD para Rastreamento de Trajetória de Robôs Móveis Aplicados ao Futebol de Robôs

Henrique A. Ramos; Dair J. de Oliveira; Tiago G. de Oliveira; Luiz F. Pugliese

doi:10.20906/sbai.v1i1.2561

Henrique A. Ramos Universidade Federal de Itajubá - Campus de Itabira, Instituto de Ciências Tecnológicas
Dair J. de Oliveira Universidade Federal de Itajubá - Campus de Itabira, Instituto de Ciências Tecnológicas
Tiago G. de Oliveira Universidade Federal de Itajubá - Campus de Itabira, Instituto de Ciências Tecnológicas
Luiz F. Pugliese Universidade Federal de Itajubá - Campus de Itabira, Instituto de Ciências Tecnológicas

DOI: https://doi.org/10.20906/sbai.v1i1.2561

Keywords: Robot football, VSS - Very Small Size, Non-holonomic robots, PID Control

Abstract

This work addresses problems related to the control of non-holonomic two-wheel mobile robots with differential drive, whose objective is to play the role of football players within a match, that is, to defend and attack. To do this, it is first necessary to find mathematical representations that be able to describe the kinematic and dynamic characteristics of robots, and thus represent their linear and angular dynamics. As these models are SISO (Single Input Single Output), a PD type control will be tuned, so that the robot can quickly track any trajectory imposed on it, ensuring a desired dynamics during a robot football match. A computational simulation will be performed to validate the tuned controller for different types of trajectories.