Lateral Position Optimal Control for Micro Mouse Robot Based on PSoC 5LP ?

摘要

In this article, we deal with the lateral position control for autonomous robots. These robots must follow routes in unknown environments, guided only by references such as obstacles and walls. In this context, the optimal control theory offer tools to achieve suitable robot performance. We propose the lateral position control of the Micro Mouse robot based on the Linear Quadratic Gaussian controller. Also, we use a Linear Quadratic Regulator to guarantee the wheel’s angular velocities. We perform a test track to evaluated the control strategy with straight and curves. Results indicate an efficient position control for straight routes and routes with slight curves. Furthermore, the speed of the robot is guarantee despite the non-regularities of the floor.