This project was started as an attempt at exploring some of the more common control systems architectures. The main goal was to have a platform that could offer a bridge between theory and hands on experience.
An obstacle avoiding 3 wheeled 2 motor robot was assembled to test these control systems architectures. Long term objectives included the implementation of trajectory selection and path planning algorithms.
In order to make such a proyect feasable, it was submited as class project on two instances, my Control II Digital Systems III courses. This allowed me to concentrate on this endeaver and hence minimize budget and time restrictions. Also I was able to obtain guidance from the instructor, additional team members, as well as lab access and other resources. These measures allowed me to advance considerably: During its first phase modeling, block diagrams, electronic design, documentation and initial tests were performed; while its second phase allowed for a digital interface with an embedded PID controller designed for future research. A yahoo group dedicated to this project was created to continue this research in the future.
