Modelização de pequenos robots autónomos: um exemplo

Abstract

In the last two years the University of Aveiro has participated in the Mobile Robotics International Championship in France. In this championship the robots have to autonomously follow a line among other tasks. In order to improve the performance of our participation a mathematical model has been developed that allows, through the use of simulation, to identify problems related to the stability or controlability of the robot as well as to test possible solutions before the robot is actually built.In this paper the referred mathematical model is presented as well as an implementation of a simulator based on such model using MATLAB. A case sudy is also presented.