Aplicación de controladores de velocidad en llantas holonómicas, control de posicionamiento y protocolos de comunicación de un robot jugador de futbol

Tania Liseth Acevedo Gauta; Andrés Orlando Páez Melo; Joaquín Andrés Valderrama Rincón

doi:10.24054/rcta.v1i39.1368

Authors

Tania Liseth Acevedo Gauta Universidad de Pamplona https://orcid.org/0009-0007-7824-4514
Andrés Orlando Páez Melo Universidad de Pamplona https://orcid.org/0000-0002-7118-7111
Joaquín Andrés Valderrama Rincón Universidad Antonio Nariño https://orcid.org/0009-0001-6112-4387

DOI:

https://doi.org/10.24054/rcta.v1i39.1368

Keywords:

Control, motors, position, communication, robot

Abstract

This work presents a digital position control system for a holonomic robot, based on a location system composed of a multi-sensorial fusion between the mobile odometry and an external artificial vision system. The robot has an embedded system that is inside it and the software works based on a real-time operating system (FreeRTOS). The design of a speed control for each engine that controls the wheels is also showed off, as well as, an ad-hoc communication protocol for its communication (backplane).

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