Projeto e construção de um robô móvel AGV/ROV não-holonômico com habilidade para navegação autônoma do tipo wall-following
This dissertation aims to present the design and construction of a terrestrial mobile robot called LOGBOT with traction type differential movement - with two wheels and an impeller to maintain the stability of its structure with the surface. The robot control modes have the telemetry and autonomo...
| Autor principal: | CHASE, Otavio Andre |
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| Grau: | Dissertação |
| Idioma: | por |
| Publicado em: |
Universidade Federal do Pará
2013
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| Assuntos: | |
| Acesso em linha: |
http://repositorio.ufpa.br/jspui/handle/2011/3382 |
| Resumo: |
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This dissertation aims to present the design and construction of a terrestrial mobile
robot called LOGBOT with traction type differential movement - with two wheels and an
impeller to maintain the stability of its structure with the surface. The robot control modes
have the telemetry and autonomous.
In the control by telemetry – Remotely Operated Vehicle, communication with the
robot control station operator is made by radio at a distance of one kilometer to outdoors, and
one hundred meters indoors.
In autonomous control mode – Autonomous Guided Vehicle, the robot has the ability
to navigate in indoor environments and unfamiliar with the use of the corridor wall as your
reference trajectory to be traveled. The sequence of movements for execution of the path is
sent to the control station that performs analysis of performance of the robot.
To perform these tasks in standalone mode, your program includes a reactive
intelligent agent that detects behaviors of the environment and decides a course of action to be
performed by the robot, aiming to avoid obstacles and to control the speed of the wheels of
mobile robots.
The problem of odometer error and its correction based on the use of external sensory
information were assessed. Techniques of hierarchical control of the robot as a whole and
speed control closed loop of the robot's wheels were used.
The results showed that the LOGBOT mobile robot is able to navigate in indoor
environments in the form of a corridor, with stability and accuracy. |