Navegación autónoma de robot móvil diferencial  con algoritmo A*

Edgar Baziabal-Montañez; Neftalí Jonatan  Gonzalez-Yances; América Morales-Díaz; Keny Ordaz-Hernández

doi:10.29057/icbi.v10iEspecial5.10145

Edgar Baziabal-Montañez CINVESTAV-Saltillo https://orcid.org/0000-0003-1682-6133
Neftalí Jonatan Gonzalez-Yances Cinvestav-Saltillo https://orcid.org/0000-0002-1796-9825
América Morales-Díaz CINVESTAV-Saltillo https://orcid.org/0000-0002-8574-672X
Keny Ordaz-Hernández CINVESTAV-Saltillo https://orcid.org/0000-0001-9528-9035

DOI: https://doi.org/10.29057/icbi.v10iEspecial5.10145

Keywords: Mobile Robotics, Path planning, Optimization, Non-linear control

Abstract

In order for a differential mobile robot to navigate in environments with obstacles, this paper applies the A algorithm, one of the most popular algorithms to find the shortest path between two nodes of a graph. Due to the nonholonomic constraint of this type of robots, the path obtained with A algorithm is post-processed, to be subsequently executed by the robot by means of a nonlinear controller proposed here. The stability of this controller is also presented using the Lyapunov method. Finally, the performance of
the robot is tested in experiments.

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