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Abstract(s)
A implementação e venda de robôs autónomos tem sido um sector que nos últimos anos
tem adquirido cada vez mais quota no mercado, nomeadamente no sector militar, agrícola
e da vigilância. Como tal, tem sido também de grande importância a capacidade de
implementar e testar robôs por parte das entidades que os fabricam. Uma das formas que
tem garantido o sucesso do desenvolvimento de robôs é a simulação prévia dos mesmos
antes que estes passem a fase de produção.
Sendo assim, o LSA como entidade de desenvolvimento de robôs autónomos, tem
necessidade de adquirir um sistema que simule os robôs em desenvolvimento.
O trabalho desta tese consiste na realização de um sistema que simule robôs autónomos
terrestres de forma que se possa observar o comportamento da cinemática, dinânica e
hardware dos robôs em ambiente 3D. Esta aplicação de simulação pode mais tarde ser
utilizada pelo laboratório para testar missões, validar alterações de estrutura, sensores, etc.
Para além disso, com recurso ao simulador Player/Stage/Gazebo testar o robô LINCE e
implementar algoritmos de controlo para o mesmo. Os algoritmos de controlo
implementados baseiam-se em primitivas de controlo básico para serem utilizadas pelo
sistema de navegação e gerar trajectórias complexas. Os algoritmos desenvolvidos nesta
tese baseiam-se nas equações cinemáticas do veículo estudado.
Estes algoritmos depois de testados no simulador, poderão ser colocados no Hardware do
robô. Desta forma consegue-se desenvolver algoritmos para determinado robô sem que
este esteja operacional.
The sale and implementation of autonomous robots has been a sector that in recent years has gained increasing market share, as such, has also been of great importance to capacity to implement and test by the entities that make these robots. One way that has ensured the success of robotics’ project consist in simulation of the robots, before, they pass through the design phase. Thus, the LSA as producing agency has autonomous robots and they need to acquire a system that simulates robots developed and developing phase. The work in this thesis is to implement a system that simulates autonomous terrain robots to simulate the kinematics, physics and hardware of the robot in 3D environment. This application of simulation can later be used by the laboratory for testing tasks, validate design changes, sensors, etc. Furthermore, using the simulator to test the robot LINCE and implement control algorithms for the same. The control algorithms implemented are based on basic control primitives to be used by the navigation system and generate complex trajectories. The algorithms developed in this thesis are based on the kinematic equations of the vehicle studied. These algorithms when tested on the simulator can be placed on the hardware of the robot. Thus can be developed specific algorithms for robot which must be operational.
The sale and implementation of autonomous robots has been a sector that in recent years has gained increasing market share, as such, has also been of great importance to capacity to implement and test by the entities that make these robots. One way that has ensured the success of robotics’ project consist in simulation of the robots, before, they pass through the design phase. Thus, the LSA as producing agency has autonomous robots and they need to acquire a system that simulates robots developed and developing phase. The work in this thesis is to implement a system that simulates autonomous terrain robots to simulate the kinematics, physics and hardware of the robot in 3D environment. This application of simulation can later be used by the laboratory for testing tasks, validate design changes, sensors, etc. Furthermore, using the simulator to test the robot LINCE and implement control algorithms for the same. The control algorithms implemented are based on basic control primitives to be used by the navigation system and generate complex trajectories. The algorithms developed in this thesis are based on the kinematic equations of the vehicle studied. These algorithms when tested on the simulator can be placed on the hardware of the robot. Thus can be developed specific algorithms for robot which must be operational.
Description
Keywords
Simulação Controlo Gazebo Simulation Control Gazebo
Citation
Publisher
Instituto Politécnico do Porto. Instituto Superior de Engenharia do Porto