Navegando por Assunto "Navigation robotics"

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Projeto e construção de um robô móvel AGV/ROV não-holonômico com habilidade para navegação autônoma do tipo wall-following
(Universidade Federal do Pará, 2009-12-21) CHASE, Otavio Andre; SOUZA, Jorge Roberto Brito de; http://lattes.cnpq.br/6023752002342215
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.