Elaboración de una formación de tres robots móviles para llegar a un punto determinado, asignándole a uno de estos el rol de líder

Abstract

The present document is developed as degree work in the thesis mode to obtain the title of Electronic Engineers, and contains all the procedures and developments elaborated to develop a swarm of three mobile robots assigning to one of these the leader role, beginning with the construction of each one of them based on low cost robotic platforms, with the design and construction of the printed circuit boards of sensing, and following with the design and simulation of a functional block of controllers for the navigation of each platform in an autonomous way starting on the dynamic model of the same, also with the design and simulation of the algorithm of \follow the leader", which will govern each agent. Finally, satisfactory results have been obtained in the implementation step, making sure of the correct performance of the whole designs making use of variable goals chosen by the user and static goals that describe closed trajectories.