Movimentação de um robô uniciclo utilizando controladores PID discretos

Abstract

Autonomus robots are those who are able to complet tasks and goals in unstructured enviroments. One of the main goals of these type of equipment is to complet tasks that are considered to be repetitive, dangerous or impracticable to humans, beign used in domestic or industrial environments. To reach that goal, it’s essencial that the autonomous robot has a good location system. Various types of trajectory system control algorithms are proposed and the PID control is one of the classical controls that are popular in many aplications, making it possible to use it as a navigating system. Therefore, this reasearch proposes the development of a robot prototype, to asses how a digital control PID assists the development of it’s movement.