Hernandez-Perez, M. A.M. A.Hernandez-PerezPérez-Daniel, Karina RubyKarina RubyPérez-DanielDelgado-Reyes, G.G.Delgado-ReyesGarcia Ramirez, P.P.Garcia RamirezMorales-Layja, L.L.Morales-Layja2023-07-212023-07-212022Hernandez-Perez, M. A., Perez-Daniel, K., Delgado-Reyes, G., Ramirez, P. G. & Morales-Layja, L. (2022). Analysis and implementation of a car-type mobile robot for semi-planned trajectory tracking using hybrid control. 2022 IEEE International Conference on Engineering Veracruz (ICEV). https://doi.org/10.1109/icev56253.2022.99593299781665452137https://scripta.up.edu.mx/handle/20.500.12552/417610.1109/ICEV56253.2022.9959329The present research work carries out an analysis and implementation of a car-type mobile robot for monitoring planned and semi-planned trajectories through a hybrid control. As a first step, a mathematical model that describes the behavior of a car-type robot based on a differential robot is determined. In addition, numerical simulations are presented in an open-loop and later in a closed-loop using a classic control strategy to follow planned trajectories. Subsequently, in order to verify the simulations, the model, and the designed control strategies, the development and implementation of a SunFounder PiCar-V model car-type mobile robot prototype were carried out. The implementation has been done using the Raspbian operating system and the help of the Raspberry Pi 4 B microcomputer for remote interaction between the prototype and the personal computer. Finally, a camera is implemented as a sensor and a series of electromechanical couplings that help the mobile robot to have greater freedom, vision, and control over trajectory tracking. This adaptation allows obtaining a hybrid control by switching between classic closed-loop control and a visual control supported by the camera incorporated in the robot, thus allowing a greater autonomy of the PiCar-V to follow semi-planned trajectories. © 2022 IEEE.enCar-type mobile robotHybrid controlPiCar-V prototypeSemi-planned trajectory trackingCamerasClosed loop control systemsComputer operating systemsResource Types::text::conference output::conference proceedings::conference paper