Navegação e desvio de obstáculos usando um robô móvel dotado de sensor de varredura laser

• Ano de defesa: 2006
• Autor(a) principal: Pereira, Flávio Garcia
• Tipo de documento: Dissertação
• Tipo de acesso: Acesso aberto
• Idioma: por
• Instituição de defesa: Universidade Federal do Espírito Santo; BR; Mestrado em Engenharia Elétrica; Centro Tecnológico; UFES; Programa de Pós-Graduação em Engenharia Elétrica
• Palavras-chave em Português: Desvio de obstáculos; Distâncias - Medição; Lasers; Navegação de robôs móveis; Engenharia Elétrica; 621.3
• Link de acesso: http://repositorio.ufes.br/handle/10/4045

This work deals with robot navigation in semi-structured environments. Some controllers were designed and implemented, based on reactive behaviors, which assure a safe navigation for a mobile robot when seeking for a goal or following a corridor. While navigating, the robot is also able to avoid obstacles that appear in its path. Two approaches for obstacle avoidance are addressed: a tangential and a non-tangential method. The information about the environment surrounding the robot is collected through a laser scanner installed onboard a PIONEER 2-DX mobile platform. The proposed controllers are validated through simulation and experimentations, always using the mobile robot equipped with the laser scanner. Some of the addressed controllers have been previously proposed elsewhere, but using other sensorial apparatus. The main contribution of this work is to explore the advantages of using these controllers in connection with the laser scanner besides some changes on the controllers designs