Aplicações de robótica móvel em ambientes domésticos

Abstract

The presence of robots in people's daily lives has increased in last decades. The robots used in domestic environments come increasingly gaining space, due to its numerous applications, including simpler tasks, such as from vacuuming the floor, to more complex tasks, such as monitoring of the diverse environments of home. So that a robot can perform in domestic environments, it is necessary that he presents a set of skills to carry out their functions. Following the instructions of RoboCup@Home, the adaptation of a Pioneer 3-AT robot was performed to accomplish specific tasks in domestic environments. For that, a structure was installed in the base of the robot and in it added the sensors Light Detection and Ranging (LIDAR) and Microsoft Kinect, composing the system of navigation and vision of the robot, and a robotic arm was implemented in its structure, enabling the manipulation of objects. Several packages have been installed that use the Robotic Operating System (ROS) as a core, in order to allow the operation of the robot. With all components in operation, the robot P3-AT has conditions to accomplish some tasks, such as safe navigation and manipulation of objects, in a completely domestic environment.