Planejamento de trajetória em robô móvel com inteligência artificial embarcada
Planning routing is fundamental to mobile robotics, since the present work aims at the simulation and construction of a mobile robot employing a differential drive. There are several theories that establish trajectory planning procedures, so in this activity two techniques were chosen to be develope...
| Autor principal: | Fernandes, William Serra Nova |
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| Formato: | Trabalho de Conclusão de Curso (Graduação) |
| Idioma: | Português |
| Publicado em: |
Universidade Tecnológica Federal do Paraná
2020
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| Assuntos: | |
| Acesso em linha: |
http://repositorio.utfpr.edu.br/jspui/handle/1/15802 |
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| Resumo: |
Planning routing is fundamental to mobile robotics, since the present work aims at the simulation and construction of a mobile robot employing a differential drive. There are several theories that establish trajectory planning procedures, so in this activity two techniques were chosen to be developed and compared. The trajectory planning strategies, BUG0 and BUG1, make the robot make decisions of the best way to go. With this, simulations were used to facilitate the development of the mobile robot through SimTwo software, using the methodologies BUG 0 and BUG 1. The technologies used to develop the robot hardware were made using the Arduino UNO, bridge module H, line sensors, and finally an acrylic structure for coupling of components and wheels. In this way, the result predicted by the theory was obtained, where BUG1 presented better route strategies than BUG0. |
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