Detalhes bibliográficos
Ano de defesa: |
2018 |
Autor(a) principal: |
Forte, Marcus Davi do Nascimento |
Orientador(a): |
Não Informado pela instituição |
Banca de defesa: |
Não Informado pela instituição |
Tipo de documento: |
Dissertação
|
Tipo de acesso: |
Acesso aberto |
Idioma: |
eng |
Instituição de defesa: |
Não Informado pela instituição
|
Programa de Pós-Graduação: |
Não Informado pela instituição
|
Departamento: |
Não Informado pela instituição
|
País: |
Não Informado pela instituição
|
Palavras-chave em Português: |
|
Link de acesso: |
http://www.repositorio.ufc.br/handle/riufc/55347
|
Resumo: |
This work presents a study on differential drive wheeled mobile robots regarding its localization estimation using sensor fusion techniques and control over a reference trajectory. The robot’s posture is an extremely important variable to be estimated, specially for autonomous mobile robots as it has to drive along a path without manual intervention. Posture estimation provided by individual sensors has shown to be inaccurate or straightforward mismatched, leading to a need of data fusion from different sources. Sensors such as accelerometer, gyroscope and magnetometer each have its own intrinsic constructive limitations. However, by combining all their flaws into a linear model allows optimal estimators, such as Kalman Filter (KF), to be used and produce estimates close to real life behavior. For the trajectory tracking and disturbance rejection, a linear control strategy for a linearized mobile robot model is applied. The system is modeled with error states to be carried out by a Linear Quadratic Regulator (LQR) controller along with a feedforward reference control action so that the reference trajectory is accordingly tracked. |