Proposta de simulador virtual para sistema de navegação de robos moveis utilizando conceitos de prototipagem rapida / Virtual simulator propose for mobile robots navigation systems using rapid prototyping concepts

AUTOR(ES)
DATA DE PUBLICAÇÃO

2007

RESUMO

This work presents the proposal of virtual environment implementation for project simulation and conception of supervision aild control systems for mobile robots, that are capable to operate and adapting in different environments and conditions. This virtual system has as purpose to facilitate the development of embedded architecture systems, emphasizing the implementation of tools that alIow the simulation of the kinematic conditions, dynamic and control, with real time monitoring of alI important system points. For this, an open control architecture is proposal, integrating the two main techniques of robotic control implementation in the hardware level: systems microprocessors and reconfigurable hardware devices. The implemented simulator system is composed of a trajectory generating module, a kinematic and dynamic simulator module and of a analysis module of results and errors. The kinematic and dynamic simulator module makes alI simulation of the mobile robot folIowing the pre-determined trajectory of the trajectory generator. All the kinematic and dynamic results shown during the simulation can be evaluated and visualized in graphs and tables formats, in the results analysis module, allowing an improvement in the system, minimizing the errors with the necessary adjustments optimization. For controlIer implementation in the embedded system, it uses the rapid prototyping, that is the technology that allows, in set with the virtual simulation environment, the development of a controlIer project for mobile robots. The validation and tests had been accomplish with nonholonomics mobile robots models with diferencial transmission

ASSUNTO(S)

robos moveis open architecture systems robotica mobile robotic systems simulação (computadores) embedded control systems reconfigurable control architecture robos - sistema de controle rapid control prototyping

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