Mejora de sistema de control coordinado de robots móviles mediante la utilización de un sistema de localización por visión
- Pablo Álvarez Benito 1
- David Gallarta Sáenz 1
- Javier Rico-Azagra 1
- Montserrat Gil-Martínez 1
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1
Universidad de La Rioja
info
- Jose Luis Calvo Rolle (coord.)
- Jose Luis Casteleiro Roca (coord.)
- María Isabel Fernández Ibáñez (coord.)
- Óscar Fontenla Romero (coord.)
- Esteban Jove Pérez (coord.)
- Alberto José Leira Rejas (coord.)
- José Antonio López Vázquez (coord.)
- Vanesa Loureiro Vázquez (coord.)
- María Carmen Meizoso López (coord.)
- Francisco Javier Pérez Castelo (coord.)
- Andrés José Piñón Pazos (coord.)
- Héctor Quintián Pardo (coord.)
- Juan Manuel Rivas Rodríguez (coord.)
- Benigno Rodríguez Gómez (coord.)
- Rafael Alejandro Vega Vega (coord.)
Éditorial: Servizo de Publicacións ; Universidade da Coruña
ISBN: 978-84-9749-716-9
Année de publication: 2019
Pages: 263-269
Congreso: Jornadas de Automática (40. 2019. Ferrol)
Type: Communication dans un congrès
Résumé
The paper presents a coverage coordinated control system using Lloyd's algorithm in which three LEGO Mindstorms EV3 robots are involved, as a practical example of educational robotics. The application is developed in MATLAB-Simulink, a well-known environment usually used for control of dynamic systems. The purpose is to show the problems caused by the use of inaccurate localization systems, in this case, the encoders incorporated in the motors of the robots. A vision-based localization system solves this problem. The hardware and software infrastructure used in the laboratory that contains the vision-based system is explained. This whole set provides a useful low-cost platform for localization.