Detalhes bibliográficos
| Ano de defesa: |
2014 |
| Autor(a) principal: |
Lasevitch, Henrique Ricardo Rocha
 |
| Orientador(a): |
Salton, Aurélio Tergolina
|
| Banca de defesa: |
Não Informado pela instituição |
| Tipo de documento: |
Dissertação
|
| Tipo de acesso: |
Acesso aberto |
| Idioma: |
por |
| Instituição de defesa: |
Pontifícia Universidade Católica do Rio Grande do Sul
|
| Programa de Pós-Graduação: |
Programa de Pós-Graduação em Engenharia Elétrica
|
| Departamento: |
Faculdade de Engenharia
|
| País: |
BR
|
| Palavras-chave em Português: |
|
| Área do conhecimento CNPq: |
|
| Link de acesso: |
http://tede2.pucrs.br/tede2/handle/tede/3068
|
Resumo: |
Auto guided vehicles are robots capable of moving in an intelligent way in order to accomplish different tasks. Nowadays, researches not only aiming industry operation, but also vehicles that may act in hostile environments, either complex or even with more skills and strenght than a human being are being developed everywhere in the world. These vehicles need not only a smart way of displacement, but also need sensors capable of sensing changes in the environment and locate the device with success. This work develops an Omni-Directional vehicle - a vehicle capable of displacement in an XY plane without changing its original orientation and also capable of rotating about its own axis - going from the development of its mathematical model to the control strategy of the trajectory, going through sensoring via Visual Servoing and inertial sensors fused with a Kalman Filter. Also, a prototype was used in experiments for comparison with simulations performed in a virtual environment. |
