Modelagem e Controle PID de Robos Móveis Aplicados a Categoria Very Small Size de Futebol de Robôs
Abstract
Robotics is a branch increasingly present in our daily life, whether in homes or the service and industrial sectors. To develop new solutions in robotics, some competitions have been created over the years, like the robot soccer competitions of RoboCup created in 1997. Very Small Size is one of the RoboCup categories in which each team must develop three differential drive mobile robots. One of the main challenges related to the development of these robots is their control. In this regard, this work aims to model and apply the PID control technique for mobile robots of the Very Small Size category in a simulated environment. Two different strategies were proposed: the first strategy prioritizes the shortest path traveled to an objective point, and the other prioritizes the positioning of the robot when reaching this point. Both approaches are promising for application in a competitive environment.
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