Virtual Simulator for Design of Mobile Robot Control and Navigation Systems

摘要

The main objective of this work was to propose a generic platform for a robotic mobile system, seeking to obtain a support tool for under-graduation and graduation activities. In this way, it presents the virtual environment implementation for simulation and design conception of supervision and control systems for mobile robots, that are capable to operate and adapting in different environments and conditions. This came from encountering the growing need to propose to the research that integrates the knowledge acquired in several domains that stimulates teamwork in order to reach a result. Another objective was to to improve knowledge in the mobile robotic area, aiming at presenting practical solutions for industrial problems, such as maintenance, supervision and transport of materials. Some promising aspects of this platform and simulator system are: · Flexibility: there are a great variety of possible configurations in the implementation of solutions for several problems associated with mobile robots. · Great capacity of memory storage allowing implementation of sailing strategies for maps. · The use of the rapid prototyping technique in mobile robotic systems.