Um Sistema Anticolisão 3D baseado no método de Campo Potencial Artificial para um robô móvel

• Ano de defesa: 2017
• Autor(a) principal: Morais, Carlos Eduardo Silva
• Tipo de documento: Dissertação
• Tipo de acesso: Acesso aberto
• Idioma: por
• Instituição de defesa: Universidade Federal da Paraíba; Brasil; Informática; Programa de Pós-Graduação em Informática; UFPB
• Palavras-chave em Português: Sistema anti-colisão 3D; Campo potencial artificial; Robô móvel; kinect; 3D anti-collision system; Artificial potential field; Mobile robot; Kinect; CIENCIAS EXATAS E DA TERRA::CIENCIA DA COMPUTACAO
• Link de acesso: https://repositorio.ufpb.br/jspui/handle/tede/9243

Anti-collision systems are based on sensing and estimating the mobile robot pose (coordinates and orientation), with respect to its environment. Obstacles detection, path planning and pose estimation are primordial to ensure the autonomy and safety of the robot, in order to reduce the risk of collision with objects and living beings that share the same space. For this, the use of RGB-D sensors, such as the Microsoft Kinect, has become popular in the last years, for being relative accurate and low cost sensors. In this work we propose a new 3D anti-collision algorithm based on Artificial Potential Field method, that is able to make a mobile robot pass between closely spaced obstacles, minimizing the oscillations during the cross. We develop our Unmanned Ground Vehicles (UGV) system on a ’Turtlebot 2’ platform, with which we perform the experiments.