Controle híbrido de um robô autônomo seguidor de linha

• Main Author: Petry, Márcio Luís
• Publication Date: 2016
• Format: Bachelor thesis
• Language: por
• Source: Repositório Institucional da UTFPR (da Universidade Tecnológica Federal do Paraná (RIUT))
• Download full: http://repositorio.utfpr.edu.br/jspui/handle/1/14647
• topic: Robôs móveis; Engenharia de protótipos; Robôs - Sistemas de controle; Controladores PID; Lógica difusa; Sistemas de tempo discreto; Mobile robots; Prototypes, Engineering; Robots - Control systems; PID controllers; Fuzzy logic; Discrete-time systems; CNPQ::CIENCIAS EXATAS E DA TERRA::CIENCIA DA COMPUTACAO::SISTEMAS DE COMPUTACAO::HARDWARE

This work describes the development of an autonomous line follower robot through the modeling and the implementation of a hybrid control system (part time continuous – part discrete state). We studied the PID classic controllers, the Fuzzy logic control for discrete-time systems, besides the system components and the electronics knowledge required to simulate and make a prototype. The prototype’s continuous controllers were mathematically modeled and implemented in a Matlab-based simulation tool. The control of discrete event systems was modeled with Moore’s automaton and it was simulated with Deslab and Supremica tools. Practical tests were made at testing tracks, which followed the RoboCore’s standards with the implementation of a hybrid control system in the prototype. Finally, we analyzed the differences between the Fuzzy and PID’s controllers, in which the PID controller showed better results.