Desenvolvimento de um robô móvel para navegação autônoma em ambiente Indoor
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Data
2023-07
Autores
Orientador
Meyer, Vinícius
Banca
Wolf, Alexandre Stürmer
Sulzbach, Sirlei
Título do periódico
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Resumo
À medida que as tecnologias avançam, percebe-se um aumento da autonomia dos robôs, permitindo aos mesmos executarem tarefas cada vez mais complexas. A presença de dispositivos robóticos vem tornando-se cada vez mais comum, passando por áreas como exploração espacial, linhas de produção em ambientes industriais e até mesmo em ambientes domésticos, onde robôs desempenham tarefas de limpeza. Dentre as vantagens da utilização de robôs para o desempenho de funções, pode-se citar o aumento de produtividade e a possibilidade do emprego dos mesmos em ambientes de risco, preservando assim a vida de seres humanos na execução de tarefas perigosas. O objetivo deste trabalho consiste na construção de um robô móvel de acionamento diferencial, que possua a capacidade de deslocar-se de forma autônoma por um ambiente indoor, podendo cumprir uma patrulha composta por coordenadas especificadas por um usuário, ao mesmo tempo que a transmissão de imagens em tempo real pode ser solicitada. A construção de um robô móvel com autonomia suficiente para navegação, justifica-se como forma de explorar tecnologias que possibilitem o seu desenvolvimento, permitindo que o mesmo possa ser adaptado para os mais diversos fins. Para a realização deste trabalho, foi produzida uma pesquisa bibliográfica em busca de subsídios que possibilitem a elaboração do protótipo de robô, contemplando hardwares e softwares necessários. Ao final do trabalho, concluiu-se que a solução proposta alcançou os objetivos, onde o robô pôde cumprir uma patrulha de forma autônoma, navegando por diversos pontos em um ambiente indoor, desviando de obstáculos e transmitindo imagens para o usuário remoto.
With the advances in technology, an increase in the autonomy of robots is observed, allowing them to perform increasingly complex tasks. The presence of robotic devices is becoming more common, ranging from areas such as space exploration, production lines in industrial environments, and even in domestic environments, where robots perform cleaning tasks. Among the advantages of using robots to perform functions, one can mention the increase in productivity and the possibility of using them in risky environments, thus preserving the lives of human beings in the execution of dangerous tasks. The objective of this work consists in the construction of a mobile robot with differential drive, which has the capacity to move autonomously through an indoor environment, being able to fulfill a patrol composed of coordinates specified by a user, at the same time as the transmission of real-time images can be requested. The construction of a mobile robot with sufficient autonomy for navigation is justified as a way of exploring technologies that enable its development, allowing it to be adapted for various purposes. For the realization of this work, a bibliographic research was carried out in search of subsidies that enable the elaboration of the robot prototype, contemplating necessary hardware and software. At the end of the work, it was concluded that the proposed solution achieved the objectives, where the robot was able to fulfill a patrol autonomously, navigating through various points in an indoor environment, avoiding obstacles and transmitting images to the remote user.
With the advances in technology, an increase in the autonomy of robots is observed, allowing them to perform increasingly complex tasks. The presence of robotic devices is becoming more common, ranging from areas such as space exploration, production lines in industrial environments, and even in domestic environments, where robots perform cleaning tasks. Among the advantages of using robots to perform functions, one can mention the increase in productivity and the possibility of using them in risky environments, thus preserving the lives of human beings in the execution of dangerous tasks. The objective of this work consists in the construction of a mobile robot with differential drive, which has the capacity to move autonomously through an indoor environment, being able to fulfill a patrol composed of coordinates specified by a user, at the same time as the transmission of real-time images can be requested. The construction of a mobile robot with sufficient autonomy for navigation is justified as a way of exploring technologies that enable its development, allowing it to be adapted for various purposes. For the realization of this work, a bibliographic research was carried out in search of subsidies that enable the elaboration of the robot prototype, contemplating necessary hardware and software. At the end of the work, it was concluded that the proposed solution achieved the objectives, where the robot was able to fulfill a patrol autonomously, navigating through various points in an indoor environment, avoiding obstacles and transmitting images to the remote user.
Descrição
Palavras-chave
Robô de acionamento diferencial; navegação autônoma; Robotic Operating System (ROS); Pilha de Navegação; Differential drive robot; autonomous navigation; Navigation Stack
Citação
SILVA, Mateus Guilherme Da. Desenvolvimento de um robô móvel para navegação autônoma em ambiente Indoor. 2023. Monografia (Graduação em Engenharia da Computação) – Universidade do Vale do Taquari - Univates, Lajeado, 05 jul. 2023. Disponível em: http://hdl.handle.net/10737/3736.