Development of the Kinematic Model of the PRAX-IA Robot Describing its Movement as a Function of its Joints and Mechanical Structure Using the Ackermann Equations

This project focuses on deriving and analyzing the kinematic equations of the six-wheeled rover PRAX-IA, developed by the GIIRA research group. The primary objective is to define the robot's movement capabilities through a robust mathematical model that accounts for its mechanical structure and interactions with irregular terrain, using Ackermann equations as a foundation. The problem addressed is the complexity of non-holonomic kinematics in six-wheeled vehicles, which limits precision in autonomous navigation and obstacle traversal. The methodology includes an exhaustive literature review, the development of traction and steering equations, and validation through simulations in environments such as ROS and Gazebo, followed by field tests to compare calculated parameters with real-world data. The expected outcomes include a validated kinematic model that will serve as a foundation for future implementations in autonomous navigation, object recognition, and mapping. This technological development aims to improve the rover's operational efficiency in applications such as precision agriculture, mining, and environmental exploration, contributing to scientific knowledge through the publication of articles indexed in Scopus.<br/><br/><b>Goal</b>: <br/>Develop the kinematic model of the PRAX-IA robot to describe its movement based on its joints and mechanical structure. The project aims to optimize the rover's autonomous navigation and maneuverability in complex terrains.<br/><br/><b>Research lines</b>: <br/>Support and industrial robotics