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This text submits to the qualifying exam a work which proposes a motion control architecture for a class of whelled mobile robot (WMR) the differential robots driven by electric motors aiming at the optimization of their movement with respect to energy consumption. The WMR model used in this work contains the kinematics of the unicycle, and both the robot chassis movement and electric drive dynamics, including their nonlinearities. Having as reference the Hierarchical Nested Controller (NHC), the proposed architecture in this work has two distinct layers: (i) the upper layer, the Trajectory Planner, gets the WMR movement waypoints and corresponding times as inputs and plans the optimal trajectory in respecto to energy consumtion; and (ii) the lower layer, the Trajectory Tracker generates the control signal to force the WMR follow the sequence of points interpolated by the planning layer. The Trajectory Tracker is implemented with two control loops: an input-output linearization controller to handle the robot kinematics and a PID loop to control the WMR dynamics. The concept of smoothing splines is used to formulate the optimization problem and hence to generate the WMR movement optimal trajectories. The partial results of this work are presented, as well as a methodology and a schedule for achieving the work objectives.

Arquitetura de controle de movimento para um robô móvel sobre rodas visando otimização energética.