Control de seguimiento de dos trayectorias para un robot diferencial usando el Sistema Operativo de Robótica ROS

Abstract

The ROS operating system has become internationally established as one of the main tools for robot programming, both in academia and in the robotics industry. Currently, in the program of electronic engineering of the University Antonio Nariño Neiva headquarters uses Matlab and different hardware tools and open source software to support the learning process of students in the course of robotics. However, there is not a complete virtual environment in which a 3D robot can be included using the ROS Robotics Operating System, so this project proposes to develop the tracking control of two trajectories in a differential robot using ROS, not before designing the robot mentioned in CAD/CAM SolidWorks software and the 3D environment in the Gazebo simulator.