Coordinación de robots móviles mediante un controlador-observador no lineal basado en el error de posición de las unidades móviles.

In this document we present the design of a nonlinear controller based on position and orientation error in order to coordinate the movement of two mobile robots using the leader-follower strategy. Initially, the mathematical model of the differential robot is described, expressed in terms of ordina...

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Autores:: Hernández Suárez, Juan Ángel

Tipo de recurso:: Trabajo de grado de pregrado

Fecha de publicación:: 2020

Institución:: Universidad Antonio Nariño

Repositorio:: Repositorio UAN

Idioma:: spa

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dc.title.es_ES.fl_str_mv	Coordinación de robots móviles mediante un controlador-observador no lineal basado en el error de posición de las unidades móviles.
title	Coordinación de robots móviles mediante un controlador-observador no lineal basado en el error de posición de las unidades móviles.
spellingShingle	Coordinación de robots móviles mediante un controlador-observador no lineal basado en el error de posición de las unidades móviles. Líder-seguidor, coordinación, estimador. Leader-follower, coordination, estimator.
title_short	Coordinación de robots móviles mediante un controlador-observador no lineal basado en el error de posición de las unidades móviles.
title_full	Coordinación de robots móviles mediante un controlador-observador no lineal basado en el error de posición de las unidades móviles.
title_fullStr	Coordinación de robots móviles mediante un controlador-observador no lineal basado en el error de posición de las unidades móviles.
title_full_unstemmed	Coordinación de robots móviles mediante un controlador-observador no lineal basado en el error de posición de las unidades móviles.
title_sort	Coordinación de robots móviles mediante un controlador-observador no lineal basado en el error de posición de las unidades móviles.
dc.creator.fl_str_mv	Hernández Suárez, Juan Ángel
dc.contributor.advisor.spa.fl_str_mv	Christian, Erazo Ordoñez
dc.contributor.author.spa.fl_str_mv	Hernández Suárez, Juan Ángel
dc.subject.es_ES.fl_str_mv	Líder-seguidor, coordinación, estimador.
topic	Líder-seguidor, coordinación, estimador. Leader-follower, coordination, estimator.
dc.subject.keyword.es_ES.fl_str_mv	Leader-follower, coordination, estimator.
description	In this document we present the design of a nonlinear controller based on position and orientation error in order to coordinate the movement of two mobile robots using the leader-follower strategy. Initially, the mathematical model of the differential robot is described, expressed in terms of ordinary linear differential equations, which were simulated and validated using the Matlab software. In Chapter 3 a state observer is proposed to estimate the angular velocity of the differential robot, which will be used for the implementation of the controller. Then it is describe the controller that aims to coordinate mobile robots to follow a path described by a parametric curve, where the leading robot has the reference parametric curve incorporated which will follow the other mobile robots. Finally, remarks and conclusions are presented, taking into account obtained results and future work.
publishDate	2020
dc.date.issued.spa.fl_str_mv	2020-07-21
dc.date.accessioned.none.fl_str_mv	2021-03-02T16:52:28Z
dc.date.available.none.fl_str_mv	2021-03-02T16:52:28Z
dc.type.spa.fl_str_mv	Trabajo de grado (Pregrado y/o Especialización)
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dc.identifier.bibliographicCitation.spa.fl_str_mv	G. L. M. Aranda, C. Sagüés and Y. Mezouar, “Formation control of mobile robots using multiple aerial cameras,” IEEE Transactions on Robotics, vol. 31, no. 4, pp. 1064–1071, 2015. A. Oviedo, “Robot de seguridad controlado por wifi cerberus 1.0.” Universidad tecnologica de pereira. Trabajo de grado, Colombia, 2016. I. K. V. Šulák and P. Cˇ icˇák, “Search using a swarmof unmanned aerial vehicles,” 2017 15th International Conference on Emerging eLearning Technologies and Applications (ICETA), pp. 1–6, 2017. M. J. G. M. Bakhshipoura and F. Namdaria, “Swarm robotics search and rescue: A novel artificial intelligence inspired optimization approach,” Applied Soft Computing 57, pp. 708–726, 2017 B. F. B. P. T. Blender, T. Buchner and C. Schlegel, “Managing a mobile agricultural robot swarm for a seeding task,” IECON 2016 - 42nd Annual Conference of the IEEE Industrial Electronics Society, pp. 6879–6886, 2016. P. L. F. W. y. T. S. J. Varughese, R. Thenius, “A model for bio-inspired underwater swarm robotic exploration,” pp. 385–390, 2018. J. M. F. Fossum and P. C. Haddow, “Repellent pheromones for effective swarm robot search in unknown environments,” 2014 IEEE Symposium on Swarm Intelligence, pp. 1– 8, 2014. H. y. S. N. G. F. Fitriana, “Formation control of leader-follower robot using interval type- 2 fuzzy logic controller,” 2017 International Conference on Electrical Engineering and Computer Science (ICECOS), pp. 44–49, 2017 A. G. y M. R. Esfahanian, “Using swarm robots based on leader-followers method for spherical object manipulation,” 2013 First RSI/ISM International Conference on Robotics and Mechatronics (ICRoM), Tehran,, pp. 413–418, 2013 P. P. Ray, “Internet of robotic things: Concept, technologies, and challenges,” IEEE Access, vol. 4, pp. 9489–9500, 2016. F. T. K. A. Defoort, M. and Perruquetti, “Sliding-mode formation control for cooperative autonomous mobile robots,” IEEE Transactions on Industrial Electronics, vol. 55, pp. 3944–3953, 2008. X. J. Li, X. and Z. Cai, “Backstepping based multiple mobile robots formation control.,” IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 887– 892, 2005. O. G. Mariottini, G.L. and D. Prattichizzo, “Image-based visual servoing for nonholonomic mobile robots using epipolar geometry,” IEEE Transactions on Robotics, pp. 425–437, 2005. P. C. M. van deWouw, Naghshtabrizi and J. Hespanha, “Tracking control for sampled-data systems with uncertain sampling intervals and delays,” International Journal of Robust and Nonlinear Control, pp. 387–411, 2010. W. Heemels and N. van de Wouw, “Stability and stabilization of networked control systems,” Networked Control Systems, pp. 203–253. T. A. R. Carnevale, D. and D. Nesic, “A lyapunov proof of an improved maximum allowable transfer interval for networked control systems,” IEEE Transactions on Automatic Control, pp. 892–897, 2007 R. Dhaouadi and A. A. Hatab, “Dynamic modelling of differential-drive mobile robots using lagrange and newton-euler methodologies: A unified framework,” Advances in Robotics and Automation, vol. 2, pp. 1–7, 2013. M. A. M. V. Leonardo Enrique Solaque Guzmán and E. L. R. Vásquez, “Seguimiento de trayectorias con un robot móvil de configuración diferencial,” Ing. USBmed, vol. 5, no. 1, pp. 26–34, 2014. M. RÍOS G., LUÍS HERNANDO; BUENO L., “Seguimiento de trayectorias con un robot móvil de configuración diferencial,” Scientia Et Technica, vol. XIV, no. 38, pp. 13–18, 2008. F. Monasterio-Huelin and A. Gutiérrez, “Modelado de un motor dc,” 2020.
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url	http://repositorio.uan.edu.co/handle/123456789/2238
identifier_str_mv	G. L. M. Aranda, C. Sagüés and Y. Mezouar, “Formation control of mobile robots using multiple aerial cameras,” IEEE Transactions on Robotics, vol. 31, no. 4, pp. 1064–1071, 2015. A. Oviedo, “Robot de seguridad controlado por wifi cerberus 1.0.” Universidad tecnologica de pereira. Trabajo de grado, Colombia, 2016. I. K. V. Šulák and P. Cˇ icˇák, “Search using a swarmof unmanned aerial vehicles,” 2017 15th International Conference on Emerging eLearning Technologies and Applications (ICETA), pp. 1–6, 2017. M. J. G. M. Bakhshipoura and F. Namdaria, “Swarm robotics search and rescue: A novel artificial intelligence inspired optimization approach,” Applied Soft Computing 57, pp. 708–726, 2017 B. F. B. P. T. Blender, T. Buchner and C. Schlegel, “Managing a mobile agricultural robot swarm for a seeding task,” IECON 2016 - 42nd Annual Conference of the IEEE Industrial Electronics Society, pp. 6879–6886, 2016. P. L. F. W. y. T. S. J. Varughese, R. Thenius, “A model for bio-inspired underwater swarm robotic exploration,” pp. 385–390, 2018. J. M. F. Fossum and P. C. Haddow, “Repellent pheromones for effective swarm robot search in unknown environments,” 2014 IEEE Symposium on Swarm Intelligence, pp. 1– 8, 2014. H. y. S. N. G. F. Fitriana, “Formation control of leader-follower robot using interval type- 2 fuzzy logic controller,” 2017 International Conference on Electrical Engineering and Computer Science (ICECOS), pp. 44–49, 2017 A. G. y M. R. Esfahanian, “Using swarm robots based on leader-followers method for spherical object manipulation,” 2013 First RSI/ISM International Conference on Robotics and Mechatronics (ICRoM), Tehran,, pp. 413–418, 2013 P. P. Ray, “Internet of robotic things: Concept, technologies, and challenges,” IEEE Access, vol. 4, pp. 9489–9500, 2016. F. T. K. A. Defoort, M. and Perruquetti, “Sliding-mode formation control for cooperative autonomous mobile robots,” IEEE Transactions on Industrial Electronics, vol. 55, pp. 3944–3953, 2008. X. J. Li, X. and Z. Cai, “Backstepping based multiple mobile robots formation control.,” IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 887– 892, 2005. O. G. Mariottini, G.L. and D. Prattichizzo, “Image-based visual servoing for nonholonomic mobile robots using epipolar geometry,” IEEE Transactions on Robotics, pp. 425–437, 2005. P. C. M. van deWouw, Naghshtabrizi and J. Hespanha, “Tracking control for sampled-data systems with uncertain sampling intervals and delays,” International Journal of Robust and Nonlinear Control, pp. 387–411, 2010. W. Heemels and N. van de Wouw, “Stability and stabilization of networked control systems,” Networked Control Systems, pp. 203–253. T. A. R. Carnevale, D. and D. Nesic, “A lyapunov proof of an improved maximum allowable transfer interval for networked control systems,” IEEE Transactions on Automatic Control, pp. 892–897, 2007 R. Dhaouadi and A. A. Hatab, “Dynamic modelling of differential-drive mobile robots using lagrange and newton-euler methodologies: A unified framework,” Advances in Robotics and Automation, vol. 2, pp. 1–7, 2013. M. A. M. V. Leonardo Enrique Solaque Guzmán and E. L. R. Vásquez, “Seguimiento de trayectorias con un robot móvil de configuración diferencial,” Ing. USBmed, vol. 5, no. 1, pp. 26–34, 2014. M. RÍOS G., LUÍS HERNANDO; BUENO L., “Seguimiento de trayectorias con un robot móvil de configuración diferencial,” Scientia Et Technica, vol. XIV, no. 38, pp. 13–18, 2008. F. Monasterio-Huelin and A. Gutiérrez, “Modelado de un motor dc,” 2020. instname:Universidad Antonio Nariño reponame:Repositorio Institucional UAN repourl:https://repositorio.uan.edu.co/
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dc.publisher.spa.fl_str_mv	Universidad Antonio Nariño
dc.publisher.program.spa.fl_str_mv	Ingeniería Electrónica
dc.publisher.faculty.spa.fl_str_mv	Facultad de Ingeniería Mecánica, Electrónica y Biomédica
dc.publisher.campus.spa.fl_str_mv	Bogotá - Sur
institution	Universidad Antonio Nariño
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spelling	Attribution-NonCommercial-NoDerivatives 4.0 International (CC BY-NC-ND 4.0)Acceso abiertohttps://creativecommons.org/licenses/by-nc-nd/4.0/info:eu-repo/semantics/openAccesshttp://purl.org/coar/access_right/c_abf2Christian, Erazo OrdoñezHernández Suárez, Juan Ángel2021-03-02T16:52:28Z2021-03-02T16:52:28Z2020-07-21http://repositorio.uan.edu.co/handle/123456789/2238G. L. M. Aranda, C. Sagüés and Y. Mezouar, “Formation control of mobile robots using multiple aerial cameras,” IEEE Transactions on Robotics, vol. 31, no. 4, pp. 1064–1071, 2015.A. Oviedo, “Robot de seguridad controlado por wifi cerberus 1.0.” Universidad tecnologica de pereira. Trabajo de grado, Colombia, 2016.I. K. V. Šulák and P. Cˇ icˇák, “Search using a swarmof unmanned aerial vehicles,” 2017 15th International Conference on Emerging eLearning Technologies and Applications (ICETA), pp. 1–6, 2017.M. J. G. M. Bakhshipoura and F. Namdaria, “Swarm robotics search and rescue: A novel artificial intelligence inspired optimization approach,” Applied Soft Computing 57, pp. 708–726, 2017B. F. B. P. T. Blender, T. Buchner and C. Schlegel, “Managing a mobile agricultural robot swarm for a seeding task,” IECON 2016 - 42nd Annual Conference of the IEEE Industrial Electronics Society, pp. 6879–6886, 2016.P. L. F. W. y. T. S. J. Varughese, R. Thenius, “A model for bio-inspired underwater swarm robotic exploration,” pp. 385–390, 2018.J. M. F. Fossum and P. C. Haddow, “Repellent pheromones for effective swarm robot search in unknown environments,” 2014 IEEE Symposium on Swarm Intelligence, pp. 1– 8, 2014.H. y. S. N. G. F. Fitriana, “Formation control of leader-follower robot using interval type- 2 fuzzy logic controller,” 2017 International Conference on Electrical Engineering and Computer Science (ICECOS), pp. 44–49, 2017A. G. y M. R. Esfahanian, “Using swarm robots based on leader-followers method for spherical object manipulation,” 2013 First RSI/ISM International Conference on Robotics and Mechatronics (ICRoM), Tehran,, pp. 413–418, 2013P. P. Ray, “Internet of robotic things: Concept, technologies, and challenges,” IEEE Access, vol. 4, pp. 9489–9500, 2016.F. T. K. A. Defoort, M. and Perruquetti, “Sliding-mode formation control for cooperative autonomous mobile robots,” IEEE Transactions on Industrial Electronics, vol. 55, pp. 3944–3953, 2008.X. J. Li, X. and Z. Cai, “Backstepping based multiple mobile robots formation control.,” IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 887– 892, 2005.O. G. Mariottini, G.L. and D. Prattichizzo, “Image-based visual servoing for nonholonomic mobile robots using epipolar geometry,” IEEE Transactions on Robotics, pp. 425–437, 2005.P. C. M. van deWouw, Naghshtabrizi and J. Hespanha, “Tracking control for sampled-data systems with uncertain sampling intervals and delays,” International Journal of Robust and Nonlinear Control, pp. 387–411, 2010.W. Heemels and N. van de Wouw, “Stability and stabilization of networked control systems,” Networked Control Systems, pp. 203–253.T. A. R. Carnevale, D. and D. Nesic, “A lyapunov proof of an improved maximum allowable transfer interval for networked control systems,” IEEE Transactions on Automatic Control, pp. 892–897, 2007R. Dhaouadi and A. A. Hatab, “Dynamic modelling of differential-drive mobile robots using lagrange and newton-euler methodologies: A unified framework,” Advances in Robotics and Automation, vol. 2, pp. 1–7, 2013.M. A. M. V. Leonardo Enrique Solaque Guzmán and E. L. R. Vásquez, “Seguimiento de trayectorias con un robot móvil de configuración diferencial,” Ing. USBmed, vol. 5, no. 1, pp. 26–34, 2014.M. RÍOS G., LUÍS HERNANDO; BUENO L., “Seguimiento de trayectorias con un robot móvil de configuración diferencial,” Scientia Et Technica, vol. XIV, no. 38, pp. 13–18, 2008.F. Monasterio-Huelin and A. Gutiérrez, “Modelado de un motor dc,” 2020.instname:Universidad Antonio Nariñoreponame:Repositorio Institucional UANrepourl:https://repositorio.uan.edu.co/In this document we present the design of a nonlinear controller based on position and orientation error in order to coordinate the movement of two mobile robots using the leader-follower strategy. Initially, the mathematical model of the differential robot is described, expressed in terms of ordinary linear differential equations, which were simulated and validated using the Matlab software. In Chapter 3 a state observer is proposed to estimate the angular velocity of the differential robot, which will be used for the implementation of the controller. Then it is describe the controller that aims to coordinate mobile robots to follow a path described by a parametric curve, where the leading robot has the reference parametric curve incorporated which will follow the other mobile robots. Finally, remarks and conclusions are presented, taking into account obtained results and future work.En este documento se presenta el diseño de un controlador no lineal basado en el error de posición y orientación, para coordinar el movimiento de dos robots móviles utilizando la estrategia líder-seguidor. Inicialmente se describe el modelo matemático del robot diferencial, expresado en terminos de ecuaciones diferenciales lineales ordinarias, el cual se validó haciendo uso del software Matlab. En el Capítulo 3 se propone un observador de estados para estimar velocidad angular del robot diferencial, el cual sera utilizado para la implementación del controlador. En el Capítulo 4 se describe el controlador que tiene como objetivo la coordinación de robots moviles para seguir una trayectoria descrita por una ecuación de curvas paramétricas, donde el robot líder tiene incorporada la curva paramétrica de referencia la cual van a seguir los demas robots moviles. Finalmente se presentan las conclusiones del trabajo de grado, donde se explica los resultados obtenidos, los objetivos cumplidos y futuros trabajos.Ingeniero(a) Electrónico(a)PregradoPresencialspaUniversidad Antonio NariñoIngeniería ElectrónicaFacultad de Ingeniería Mecánica, Electrónica y BiomédicaBogotá - SurLíder-seguidor,coordinación,estimador.Leader-follower,coordination,estimator.Coordinación de robots móviles mediante un controlador-observador no lineal basado en el error de posición de las unidades móviles.Trabajo de grado (Pregrado y/o Especialización)http://purl.org/coar/resource_type/c_7a1fhttp://purl.org/coar/version/c_970fb48d4fbd8a85ORIGINAL2020AutorizacióndeAutores.pdf2020AutorizacióndeAutores.pdfAutorización de autor PDFapplication/pdf943724https://repositorio.uan.edu.co/bitstreams/4efcc6e0-088d-45c6-907a-fac182944fa4/download4dc38a9580cb03ed2c35b7ee64e51914MD512020JuanÁngelHernándezSuárez.pdf2020JuanÁngelHernándezSuárez.pdfTrabjago de grado PDFapplication/pdf4269999https://repositorio.uan.edu.co/bitstreams/44eaee41-afa3-46d7-b88f-9af73e3909e9/download59f3c5f1d58533bc58bd9c1072ee9b75MD52CC-LICENSElicense_rdflicense_rdfapplication/rdf+xml; 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Coordinación de robots móviles mediante un controlador-observador no lineal basado en el error de posición de las unidades móviles.

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