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Abstract(s)
O interesse por veículos autónomos tem uma história que data há mais de meio século. Este interesse, juntamente com os constantes avanços tecnológicos verificados em diversas áreas, levou a que atualmente diversas indústrias possuam veículos deste tipo, podendo estes “navegar” com recurso a vários métodos. Devido aos seus ambientes variáveis, muitas aplicações requerem uma constante necessidade de adaptação do movimento, levando à adoção de um m´método de navegação em particular - sistema de navegação natural. Posto isto, este projeto foca-se no desenvolvimento de um protótipo de AGV que navegue com um sistema deste tipo. Pretende-se que o produto desenvolvido seja a base para a integração de um (ou mais) AGV em aplicações industriais concebidas pela empresa - Gislotica. Esta é uma empresa de engenharia especializada no estudo e desenvolvimento de projetos que vão desde a logística (estudos de fluxos) às máquinas especiais. Numa fase inicial, foi modelado o veículo em questão, com base nas características pretendidas para o mesmo. Este passo, permitiu estabelecer quais os requisitos necessários como, por exemplo, potência e binário, por forma a que sejam cumpridas as características pretendidas. Obtidas as características e especificações, tornou-se possível a análise de soluções, onde foram estudadas as partes integrantes do veículo (motores, sensores, entre outras). Em termos de controlador do sistema, ou seja onde é realizado todo o processamento do algoritmo de navegação, a escolha recaiu sobre uma solução fornecida pela BlueBotics - ANT lite+. Este componente foi a base da arquitetura desenvolvida onde, salvo algumas exceções, as restantes partes integrantes devem providenciar a informação necessária ao seu bom funcionamento. A implementação recaiu inicialmente pela montagem do protótipo, onde foi desenvolvida a sua estrutura mecânica e ainda feitas as ligações elétricas necessárias, baseadas na arquitetura do sistema. Posto isto, foi desenvolvida a programação/configuração de todas as partes integrantes, desde o PLC, PLC de segurança, motores, sensores, até ao ANT lite+. Por fim, foram definidos e realizados um conjunto de testes, com objetivo de validar a solução e perspetivar algumas melhorias futuras. Estes compreenderam uma avaliação á segurança do sistema, desempenho em termos de movimento, análise ao ANT lite+, entre outros.
The interest in autonomous vehicles has a history that dates back more than half a century ago. This interest, together with the constant technological advances in several areas, has led to the fact that currently, several industries have vehicles of this type, which can “navigate” using various methods. Many applications require a constant need for adaptation, due to variable environments, leading to the adoption of a particular navigation method - natural navigation system. That said, this project focuses on the development of an AGV prototype that navigates naturally, being presented and described the steps that comprise its implementation. It’s intended that the developed is the basis for the integration of one (or more) AGV in industrial applications designed by the company - Gislotica. This is an engineering company specialized in studies and project development, ranging from logistics studies to special machines. In an initial phase, the vehicle in question was modeled, based on the characteristics intended for it. This step allowed to establish the requirements, such as power and torque, so that the desired characteristics are met. Once the characteristics and specifications were obtained, the analysis of solutions became possible, where the integral parts of the vehicle (motors, sensors, etc.) were studied, highlighting some of those present in the market. In terms of the system controller, that is, where all the processing of the navigation algorithm is performed, the choice fell on a solution provided by BlueBotics - ANT lite +. This component was the basis of the developed architecture, where (with some exceptions), all the integral parts are connected to provide ANT lite+ with the information necessary for its proper functioning. The implementation initially fell to the assembly of the prototype, where its mechanical structure was developed and the necessary electrical connections were made, based on the architecture of the system. That said, programming/configuration of all integral parts was developed, from the PLC, safety PLC, motors, sensors, to ANT lite +. Finally, a set of tests were defined and performed to validate the solution and envisage some future improvements. These included an assessment of system security, performance in terms of movement, analysis of ANT lite +, among others.
The interest in autonomous vehicles has a history that dates back more than half a century ago. This interest, together with the constant technological advances in several areas, has led to the fact that currently, several industries have vehicles of this type, which can “navigate” using various methods. Many applications require a constant need for adaptation, due to variable environments, leading to the adoption of a particular navigation method - natural navigation system. That said, this project focuses on the development of an AGV prototype that navigates naturally, being presented and described the steps that comprise its implementation. It’s intended that the developed is the basis for the integration of one (or more) AGV in industrial applications designed by the company - Gislotica. This is an engineering company specialized in studies and project development, ranging from logistics studies to special machines. In an initial phase, the vehicle in question was modeled, based on the characteristics intended for it. This step allowed to establish the requirements, such as power and torque, so that the desired characteristics are met. Once the characteristics and specifications were obtained, the analysis of solutions became possible, where the integral parts of the vehicle (motors, sensors, etc.) were studied, highlighting some of those present in the market. In terms of the system controller, that is, where all the processing of the navigation algorithm is performed, the choice fell on a solution provided by BlueBotics - ANT lite +. This component was the basis of the developed architecture, where (with some exceptions), all the integral parts are connected to provide ANT lite+ with the information necessary for its proper functioning. The implementation initially fell to the assembly of the prototype, where its mechanical structure was developed and the necessary electrical connections were made, based on the architecture of the system. That said, programming/configuration of all integral parts was developed, from the PLC, safety PLC, motors, sensors, to ANT lite +. Finally, a set of tests were defined and performed to validate the solution and envisage some future improvements. These included an assessment of system security, performance in terms of movement, analysis of ANT lite +, among others.
Description
Keywords
AGV Protótipo Sistema de navegação natural Requisitos do sistema Análise de soluções ANT lite+ Validação Prototype Natural navigation system System requirements Solution analysis Validation