Virtual simulator for mobile robots navigation systems

dc.contributorUniversidade Estadual Paulista (UNESP)
dc.creatorDe Melo, Leonimer Flávio
dc.creatorRosário, João Maurício
dc.creatorFerasoli Filho, Humberto
dc.creatorPrado, José Guilherme Simão
dc.date2014-05-27T11:23:41Z
dc.date2016-10-25T18:26:04Z
dc.date2014-05-27T11:23:41Z
dc.date2016-10-25T18:26:04Z
dc.date2008-10-13
dc.date.accessioned2017-04-06T01:32:38Z
dc.date.available2017-04-06T01:32:38Z
dc.identifierProceedings of the IEEE International Conference on Control Applications, p. 281-286.
dc.identifierhttp://hdl.handle.net/11449/70608
dc.identifierhttp://acervodigital.unesp.br/handle/11449/70608
dc.identifier10.1109/CCA.2008.4629605
dc.identifier2-s2.0-53349172044
dc.identifierhttp://dx.doi.org/10.1109/CCA.2008.4629605
dc.identifier.urihttp://repositorioslatinoamericanos.uchile.cl/handle/2250/891684
dc.descriptionThis paper presents the virtual environment implementation for project simulation and conception of supervision and control systems for mobile robots, that are capable to operate and adapting in different environments and conditions. This virtual system has as purpose to facilitate the development of embedded architecture systems, emphasizing the implementation of tools that allow the simulation of the kinematic conditions, dynamic and control, with real time monitoring of all important system points. For this, an open control architecture is proposal, integrating the two main techniques of robotic control implementation in the hardware level: systems microprocessors and reconfigurable hardware devices. The implemented simulator system is composed of a trajectory generating module, a kinematic and dynamic simulator module and of a analysis module of results and errors. All the kinematic and dynamic results shown during the simulation can be evaluated and visualized in graphs and tables formats, in the results analysis module, allowing an improvement in the system, minimizing the errors with the necessary adjustments optimization. For controller implementation in the embedded system, it uses the rapid prototyping, that is the technology that allows, in set with the virtual simulation environment, the development of a controller project for mobile robots. The validation and tests had been accomplish with nonholonomics mobile robots models with diferencial transmission. © 2008 IEEE.
dc.languageeng
dc.relationProceedings of the IEEE International Conference on Control Applications
dc.rightsinfo:eu-repo/semantics/closedAccess
dc.subjectConcurrent engineering
dc.subjectEmbedded systems
dc.subjectError analysis
dc.subjectErrors
dc.subjectIntegrated circuits
dc.subjectJob analysis
dc.subjectKinematics
dc.subjectMobile robots
dc.subjectRapid prototyping
dc.subjectReal time systems
dc.subjectRobotics
dc.subjectRobots
dc.subjectSimulators
dc.subjectVirtual reality
dc.subjectControl applications
dc.subjectControl architectures
dc.subjectController implementation
dc.subjectDynamic simulators
dc.subjectEmbedded architectures
dc.subjectInternational conferences
dc.subjectKinematic conditions
dc.subjectNonholonomics
dc.subjectProject simulation
dc.subjectPrototyping
dc.subjectReal-time monitoring
dc.subjectReconfigurable hardware devices
dc.subjectRobotic controls
dc.subjectVirtual environment
dc.subjectVirtual simulation environment
dc.subjectVirtual simulators
dc.subjectVirtual systems
dc.subjectControl systems
dc.titleVirtual simulator for mobile robots navigation systems
dc.typeOtro


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