Proposta de Plataforma de Simulação para Robótica Móvel com Integração entre Webots e Matlab.

This work presents the development of a 3D simulation platform for navigation algorithms in autonomous robotic systems. The platform's strategy is to integrate the 3D environment of Webots with Matlab and is focused on navigation strategies based on meta-heuristics founded on the Dynamic Planni...

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Detalhes bibliográficos
Autor principal: Balza, Micael
Outros Autores: Fernandes, Marcelo Augusto Costa
Formato: bachelorThesis
Idioma:pt_BR
Publicado em: Universidade Federal do Rio Grande do Norte
Assuntos:
DPNA-GA
Plataforma de simulação
Sistemas robóticos autônomos
Robótica móvel
Simulation platform
Autonomous robotic systems
Mobile robots
CNPQ::OUTROS::ENGENHARIA MECATRONICA
CNPQ::ENGENHARIAS::ENGENHARIA ELETRICA::CIRCUITOS ELETRICOS, MAGNETICOS E ELETRONICOS
CNPQ::CIENCIAS EXATAS E DA TERRA::CIENCIA DA COMPUTACAO::SISTEMAS DE COMPUTACAO
Endereço do item:https://repositorio.ufrn.br/handle/123456789/50580
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Descrição
Resumo:This work presents the development of a 3D simulation platform for navigation algorithms in autonomous robotic systems. The platform's strategy is to integrate the 3D environment of Webots with Matlab and is focused on navigation strategies based on meta-heuristics founded on the Dynamic Planning Navigation Algorithm optimized with Genetic Algorithm (DPNA-GA). Static and dynamic 3D environments are created to perform navigation simulations in a land mobile robot with differential drive built in the simulator. The platform is capable of testing strategies in environments with obstacles and walking towards the final objective in a trajectory composed of local objectives close to the optimal path, thus validating the platform and technique for this type of environment. The new platform allows for a greater number of robot and environment parameters to be tested.

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