Sensores de indução e RFID aplicados à navegação auto-guiada de cadeiras de rodas

• Ano de defesa: 2008
• Autor(a) principal: Guimarães, Edgard Battisti
• 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: Indução eletromagnética; Cadeiras de rodas; Navegação de robôs móveis; Engenharia Elétrica; 621.3
• Link de acesso: http://repositorio.ufes.br/handle/10/4067

This work is part of a larger project of a robotic wheelchair, for people with severe motion disability. Among various resources needed to the wheelchair functioning, it was clear the need of a navigation method for narrows and complex paths, like doors and others, hard to be tracked by dynamic navigational methods, also present in the vehicle. So this work kept its attention in finding a stable and precise navigation solution, with additional characteristics of low cost and facility of implementation, important to domestic environment applications. A research for alternatives was made, where was found that the AGV (Auto Guided Vehicles) navigation method would be the best choice, but, having to use different techniques. The work, oriented by this way, resulted in an inductive sensor development and application, for tracking passive trails on the floor, and in the adoption of RFID (Radio Frequency Identification) technology, to identify points of interest along the trails. The achieved results had demonstrated that the navigation method developed in this work, had surpassed the original goals expectations, revealed in such a way versatile, economic and of easy application that became evident its applicability in various challenges in robotic navigation, specially in the wheelchair in which it was implanted. The work added value to the project as a whole, in the form of accessible and trustworthy navigation solution, to provide significantly bigger autonomy to the people with very severe motion disabilities.