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Abstract(s)
O presente documento tem como objetivo relatar o desenvolvimento de um sistema de navegação, baseado na ferramenta de programação para robôs Robot Operating System (ROS), com o objetivo de permitir ao robô deslocar-se num determinado espaço. Inicialmente, realizou-se um estudo teórico sobre plataformas robotizadas, com o intuito de entender melhor as plataformas que há no mercado e como são constituídas. Foi também realizada uma análise sobre a ferramenta ROS, de forma a conhecer o sistema deste e os seus integrantes. Após o estudo teórico, passou-se à formulação das fases que se consideraram necessárias para a realização do projeto. Numa primeira fase, iam ser desenvolvidos determinados programas no simulador Turtlesim, que posteriormente iriam ser adaptados para serem executados pelo simulador TurtleBot, sendo que este adiciona uma nova característica aos programas, o uso do sensor laser. Concluídas as fases de simulação, o objetivo seria utilizar o robô comercial Magni para fazer demonstrações reais dos programas anteriormente desenvolvidos. Em seguida, deu-se início à programação do simulador 2D Turtlesim, com o objetivo de desenvolver programas que permitissem ao robô realizar simples operações de movimento, sendo estas as seguintes: mover-se em linha reta, efetuar uma rotação no local e deslocarse até a um determinado ponto no seu espaço. Concluída a simulação no Turtlesim, procedeu-se para o desenvolvimento de programas no simulador TurtleBot, sendo um dos objetivos a utilização de um sensor. Foram reutilizados os programas desenvolvidos no Turtlesim, com o acréscimo do sensor laser equipado no TurtleBot, permitindo desenvolver os seguintes programas: o robô movimenta-se, alternando entre movimentos lineares e rotacionais; o robô está em constante movimento linear, evitando colisões com as paredes; o robô desloca-se até um determinado ponto, evitando colisões com as paredes, passando por um conjunto de pontos intermédios, para facilitar o deslocamento do mesmo. A programação do robô Magni fica como um possível trabalho futuro a realizar, assim como explorar outras componentes da ferramenta ROS, para se conseguir desenvolver um sistema de navegação mais robusto.
The aim of this document is to describe the process used to develop a navigation system, based on the tool for programming robots Robot Operating System (ROS), with the purpose of making a robot move in a certain space. In the beginning, a theoretical study about robot platforms was carried out, with the intention of getting a better understanding of the market and its components. Also, it was made an analysis of the tool ROS, to know better its system and its elements. After the study, the next step was to state the phases that were considered necessary for the development of this project. Primarily, specific programmes were going to be developed on the Turtlesim simulator, then they were going to be adapted to run on the TutleBot simulator, where its possible to add a new feature to the programmes, the laser sensor. Once all the simulations were completed, the next goal was to use the commercial robot Magni for demonstrating real applications of the programmes developed on the simulators. After that the programming of the 2D Turtlesim simulator started, with the goal of developing programs that would allow the robot to perform simple movement operations, such as: moving in a straight line, rotating on the spot and moving up to a certain point in its area. After finishing the simulation in Turtlesim, programs were developed in the TurtleBot simulator, one of the purposes being the use of a sensor. The programs developed in Turtlesim were reused, with the addition of the laser sensor equipped in the TurtleBot, allowing the development of the following programs: the robot moves, shifting between linear and rotating movements; the robot is in constant linear motion, avoiding collisions with the walls; the robot moves to a certain point, avoiding collisions with the walls, passing through a set of middle points, to ease its displacement. The programming of the Magni robot is seen as a possible future task to be carried out, as well as exploring other components of the ROS tool, in order to develop a more robust navigation system.
The aim of this document is to describe the process used to develop a navigation system, based on the tool for programming robots Robot Operating System (ROS), with the purpose of making a robot move in a certain space. In the beginning, a theoretical study about robot platforms was carried out, with the intention of getting a better understanding of the market and its components. Also, it was made an analysis of the tool ROS, to know better its system and its elements. After the study, the next step was to state the phases that were considered necessary for the development of this project. Primarily, specific programmes were going to be developed on the Turtlesim simulator, then they were going to be adapted to run on the TutleBot simulator, where its possible to add a new feature to the programmes, the laser sensor. Once all the simulations were completed, the next goal was to use the commercial robot Magni for demonstrating real applications of the programmes developed on the simulators. After that the programming of the 2D Turtlesim simulator started, with the goal of developing programs that would allow the robot to perform simple movement operations, such as: moving in a straight line, rotating on the spot and moving up to a certain point in its area. After finishing the simulation in Turtlesim, programs were developed in the TurtleBot simulator, one of the purposes being the use of a sensor. The programs developed in Turtlesim were reused, with the addition of the laser sensor equipped in the TurtleBot, allowing the development of the following programs: the robot moves, shifting between linear and rotating movements; the robot is in constant linear motion, avoiding collisions with the walls; the robot moves to a certain point, avoiding collisions with the walls, passing through a set of middle points, to ease its displacement. The programming of the Magni robot is seen as a possible future task to be carried out, as well as exploring other components of the ROS tool, in order to develop a more robust navigation system.
Description
Keywords
ROS Robô Turtlesim TurtleBot Sensor laser Magni Robot Laser sensor