Analysis and implementation of a car-type mobile robot for semi-planned trajectory tracking using hybrid control

Abstract

The present research work carries out an analysis and implementation of a car-type mobile robot for monitoring planned and semi-planned trajectories through a hybrid control. As a first step, a mathematical model that describes the behavior of a car-type robot based on a differential robot is determined. In addition, numerical simulations are presented in an open-loop and later in a closed-loop using a classic control strategy to follow planned trajectories. Subsequently, in order to verify the simulations, the model, and the designed control strategies, the development and implementation of a SunFounder PiCar-V model car-type mobile robot prototype were carried out. The implementation has been done using the Raspbian operating system and the help of the Raspberry Pi 4 B microcomputer for remote interaction between the prototype and the personal computer. Finally, a camera is implemented as a sensor and a series of electromechanical couplings that help the mobile robot to have greater freedom, vision, and control over trajectory tracking. This adaptation allows obtaining a hybrid control by switching between classic closed-loop control and a visual control supported by the camera incorporated in the robot, thus allowing a greater autonomy of the PiCar-V to follow semi-planned trajectories.