Controle de trajetória de robô móvel com desvio de obstáculos

• Autor(a) principal: Ferreira, William Santos
• Data de Publicação: 2023
• Tipo de documento: Trabalho de conclusão de curso
• Idioma: por
• Título da fonte: Repositório Institucional da Universidade Federal do Ceará (UFC)
• Texto Completo: http://www.repositorio.ufc.br/handle/riufc/73867
• topic: Controle de Trajetória; Desvio de Obstáculos; Algoritmo A*; Klancar

The present work aims to study and develop a trajectory control system for a mobile robot capable of avoiding obstacles in its environment. Trajectory control is a fundamental area in mobile robotics, enabling the robot to move autonomously and safely in complex environments. Initially, the kinematics of the mobile robot are presented, describing the position equations that govern its motion. Next, the problem of obstacle avoidance is addressed, considering the need for efficient trajectory planning. To solve this challenge, the A* (A-star) algorithm is selected as a trajectory planning method. A* is a widely used algorithm in mobile robotics due to its efficiency and ability to find paths in discretized spaces. Additionally, the Klancar controller, a simple and effective controller for tracking the planned trajectory, is introduced. This controller uses a gain matrix to adjust the robot's position error and generate linear and angular velocity commands. The proposed system is evaluated in different scenarios, where the mobile robot must navigate around obstacles and reach a predefined destination.