Controle inteligente de posição e velocidade para um robô escalador com rodas direcionáveis

Abstract

This work presents an intelligent control of position and velocity to a climber robot developed to perform inspections of pressure vessels. The climber robot has steerable and magnetic wheels, which makes it similar to an omnidirectional robot due to its high maneuverability. The intelligent velocity control proposed uses the switching Fuzzy controllers according to the movement to be performed, which allow the use of all the robot's movement potential respecting the constraints imposed by the dynamic model and magnetic adhesion. Also, a position controller was developed in cascade with the speed controller to verify the navigation capability of the robot in a 2D environment. Simulated and experimental tests are applied for validation of control techniques implemented and they're presented at the end of this work.