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Sistema de busca e salvamento baseado em múltiplos veículos terrestres
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| 10.26 MB | Adobe PDF |
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Abstract(s)
Esta dissertação visa o desenvolvimento de um sistema de busca e salvamento baseado
em múltiplos veículos terrestres, utilizando para tal os veículos LINCE do Laboratório de
Sistemas Autónomos. Tendo como principal propósito conferir autonomia aos veículos,
foram estudados possíveis cenários de actuação, para determinar as principais funcionalidades
requeridas do sistema.
Foram também estudadas metodologias de análise e caracterização de sistemas multirobóticos, baseadas no estado da arte existente, e foi elaborada a arquitectura conceptual
do sistema e dos veículos a desenvolver.
A preparação dos veículos abordou o estudo das possíveis soluções sensoriais e de actuação, e o desenvolvimento de uma arquitectura de hardware capaz de interligar todos
os periféricos dos mesmos. Foram adaptados novos sensores e actuadores, e desenvolvidos
alguns desses sensores. Para a interligação e manutenção dos mesmos foram ainda desenvolvidos
novos periféricos de interface e controlo, e periféricos de gestão de energia. Por
fim, foi ainda adaptado um gestor de missões nos veículos, capaz de receber a especificação
das mesmas.
This dissertation aims to develop a search and rescue system, based on multiple terrestrial vehicles, using LINCE rovers from Autonomous Systems Laboratory. The main purpose of the dissertation is to make changes on these rovers, to give them some autonomy. For that, possible scenarios of action were studied to determine the main functional requirements of the system. Based on the state of the art of these systems, were also studied methods of analysis and characterization of multi-robot systems, and conceptual architectures of the system and vehicles were designed. To the vehicles design, some sensor and actuator solutions were analyzed, and a hardware architecture, capable of connecting all devices, was developed. Some sensors and actuators were adapted, and another sensor was developed. It was also developed an interface board to link some devices, and an energy board to power and control them. Finally, it was also adapted in vehicles a mission manager, capable of receiving mission speci cations.
This dissertation aims to develop a search and rescue system, based on multiple terrestrial vehicles, using LINCE rovers from Autonomous Systems Laboratory. The main purpose of the dissertation is to make changes on these rovers, to give them some autonomy. For that, possible scenarios of action were studied to determine the main functional requirements of the system. Based on the state of the art of these systems, were also studied methods of analysis and characterization of multi-robot systems, and conceptual architectures of the system and vehicles were designed. To the vehicles design, some sensor and actuator solutions were analyzed, and a hardware architecture, capable of connecting all devices, was developed. Some sensors and actuators were adapted, and another sensor was developed. It was also developed an interface board to link some devices, and an energy board to power and control them. Finally, it was also adapted in vehicles a mission manager, capable of receiving mission speci cations.
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Instituto Politécnico do Porto. Instituto Superior de Engenharia do Porto