Información del artículo
Resumen
Este trabajo presenta un enfoque basado en la teoría del álgebra lineal, los métodos numéricos y una modificación al método de fuerza ficticia, para la navegación de robots móviles en entornos dinámicos. Para el diseño del controlador se utiliza el modelo dinámico de un robot móvil no holonómico tipo uniciclo. Trabajos anteriores a menudo ignoran la dinámica del robot, por lo que sufren de singularidades en sus algoritmos. Los resultados de simulación y experimentación confirman la factibilidad y efectividad del controlador propuesto, logrando que el robot sea capaz de adaptar su comportamiento al nivel del conocimiento disponible y navegar de manera segura en entornos no estructurados, mientras se minimiza el error de seguimiento.
Palabras clave:
álgebra lineal
evasión de obstáculos
fuerza ficticia
modelo dinámico
robot móvil
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