Trajectory planning in cooperative robots using artificial vision

Abstract

When obtaining a mathematical model of any physical system, it is very desirable to be able to verify it before carrying out its implementation, for it is resorted to several methods, one of them is the simulation. In this work we present a methodology denominated SimMechanics, for the system of a mobile robot differential type, carrying out a simulation more approximated to the reality, validating this way the model. The planning of the trajectory it is implemented only in the robot leader with a controller PID applied in the speed of each one of the motors, a second robot endowed with artificial vision denominated slave, that it will maintain identified to the robot leader in all moment and maintaining a determined distance robot leader, to achieve that the trajectory it is traveled by both robots, leader-slave of form cooperative.