Protótipo de um robô móvel autônomo seguidor de paredes internas

Abstract

This work presents the developed hardware and control software to a mobile robot prototype able to move around its environment and following internal walls. The Curumim robot chassis was used to the hardware project, in addition, the control processor, the sensors and actuators was chosen in order to build an autonomous mobile robot. Solutions related to the challenge of installing and configuring the components were presented. The low-level control software proposed includes classical concepts such as PID, on-off and proportional control. The good performance of the low-level controllers implemented has supported the development of the high-level control, which allows to the robot to follow internal walls in an open environment, with or without the presence of obstacles. The robot’s trajectory mappings obtained by different combinations of low-level controllers and environments were presented and discussed.