Análisis computacional del efecto de la velocidad sobre la precisión de seguimiento en robots móviles diferenciales
DOI:
https://doi.org/10.62059/m3r4cr73Keywords:
Robot móvil, Tracción diferencial, Seguimiento de trayectoria, Velocidad de operación, Error de seguimientoResumen
Este trabajo analiza cómo la velocidad de operación afecta la precisión del seguimiento de trayectoria de un robot móvil de tracción diferencial. Se desarrolló una simulación computacional en Python utilizando un controlador proporcional con parámetros constantes y una trayectoria de referencia fija. Se evaluaron velocidades entre 0,2 y 1,0 m/s mediante el error de seguimiento, RMSE, error máximo y error final. Los resultados muestran que el aumento de la velocidad reduce el tiempo de recorrido, pero incrementa progresivamente el error. El RMSE aumentó de 0,000308 m a 0,005664 m, mientras que el error máximo pasó de 0,000516 m a 0,008836 m. También se analizaron la influencia de la curvatura, las perturbaciones iniciales, el ruido de medición y la convergencia numérica. Los resultados confirman una relación clara entre velocidad y precisión, proporcionando una base para seleccionar condiciones de operación que equilibren rapidez y exactitud.
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The data supporting the findings of this study are available from the corresponding author upon reasonable request.
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Derechos de autor 2026 José Luis Guamán Chacha, Ronal Javier Alejandro Castro, Cecibell Alexandra Malavé Vivar (Autor/a)
Esta obra está bajo una licencia internacional Creative Commons Atribución 4.0.
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