Robô cortador de grama de uso residencial

Abstract

This work proposes the development of a robotic lawn mower for residencial use. Initiall a literature review was carrierd out on topologies used in mobile robotics and the development of autonomous machines, covering the emergence of robots to the main lawn mowers available in the market today. From this, parameters were found of size, weight, cutting widthand autonomy and then the selection of motors, batteries and microcontroller (ESP32) used in the construction of the prototype. Afterwards, the PI controllers for adjusting the speed of DC motors were designed. At this stage, it was adopted the PID Tool of the MATLAB software to tune the gains. To feedback the speed control loop, a resolver type tachometer was development for each DC motor using a 3D printer. Then the circuits were designed and simulated in the PSIM software and from this electronic boards were developed for data acquisition of the sensors, control and drive of the robot. Finally, the practical implementation was made, where tests were conducted controlling it through a smartphone via Bluetooth, validating its mechanical structure, according to the methodological procedures. Your behavior when remotely controlled proved to be satisfactory, allowing different control techniques to be implemented in future work.