Desenvolvimento de um robô móvel do tipo Car-Like para realização de caminhos pré-definidos

Abstract

The development of Car-Like mobile robots encompasses the creation of autonomous vehicles that emulate the motion of conventional cars. Although the applications for such robots are diverse, this work focuses on the challenge of path following. The goal is to position the robot near an initial point on a path defined by a time-independent function, f(x). Through lateral control, the intention is for the robot to align itself with the path and follow it. The development of the controller to stabilize the robot on the path will adopt an approach using Linear Matrix Inequalities (LMI). Additionally, the project aims to develop both the hardware and software for a scaled-down prototype of a Car-Like mobile robot. Regarding the hardware, the process involves 3D modeling using CAD software, 3D printing of parts, and the design and manufacturing of a printed circuit board to capture sensors data and activate the system’s actuators. In the realm of software, the controller’s implementation will be on a computer with the Robot Operating System (ROS). Consequently, the microcontroller installed on the robot will be responsible only for communication with the computer via TCP/IP, sensors readings and actuators commands.