Controlador PD-Difuso para seguimiento de pared de un robot móvil: validación experimental
DOI:
https://doi.org/10.37135/unach.ns.001.04.05Palabras clave:
Controlador difuso, controlador PD, robot móvil, seguimiento de paredResumen
Este artículo presenta un controlador Fuzzy-PD para resolver el problema de seguimiento de pared a través de un robot móvil. El desempeño del controlador propuesto es comparado con un controlador clásico PD a través del análisis del índice de la integral del error cuadrático (ISE) y el índice de variación total de la acción de control (TV). Para el diseño del controlador Fuzzy-PD, se consideró la distancia que existe entre el robot móvil y la pared la cual es medida a través de un sensor ultrasónico que tiene el robot. En este trabajo se realizaron dos pruebas con el objetivo de mostrar la efectividad que posee cada controlador, un cambio de referencia de la distancia de seguimiento y el seguimiento de una pared desconocida. Los controladores fueron sintonizados a través del algoritmo de optimización por enjambre de partículas (PSO) e implementados en la plataforma DaNI 2.0 mediante el uso del software LabView Robotics.
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- 2021-05-20 (2)
- 2019-12-10 (1)
