Browsing by Author "Mendes, Pedro Henrique Ferreira"
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- Integration of ROS navigation stack with dynamic environment information in gazebo simulationPublication . Mendes, Pedro Henrique Ferreira; Mendes, Andre C.; Duarte, Luis F.C.Sensing the environment is a crucial task that robots have to perform to navigate autonomously. Furthermore, it must be well executed to make navigation safer and collision-free. As autonomous mobile robots are being deployed in several applications, they often encounter dynamic habitats, where sensing and perceiving the environment becomes harder. This work proposes integrating a wireless sensor network with the Robotic Operating System to incorporate data into layered costmaps used by the robot to navigate, feeding the algorithms with advanced information about the territory. The architecture was tested in simulation, where we could validate the structure and collect data showing improved paths calculated and reduced computational load through better parametrization. Thus, this strategy ensures that the advanced information about the environment has improved the navigation process.
- REPETIDO - Integration of ROS navigation stack with dynamic environment information in gazebo simulationPublication . Mendes, Pedro Henrique Ferreira; Mendes, Andre C.; Duarte, Luis F.C.Sensing the environment is a crucial task that robots have to perform to navigate autonomously. Furthermore, it must be well executed to make navigation safer and collision- free. As autonomous mobile robots are being deployed in several applications, they often encounter dynamic habitats, where sensing and perceiving the environment becomes harder. This work proposes integrating a wireless sensor network with the Robotic Operating System to incorporate data into layered costmaps used by the robot to navigate, feeding the algorithms with advanced information about the territory. The architecture was tested in simulation, where we could validate the structure and collect data showing improved paths calculated and reduced computational load through better parametrization. Thus, this strategy ensures that the advanced information about the environment has improved the navigation process.
- Wireless sensor network integrated with ros for danger avoidance in mobile roboticsPublication . Mendes, Pedro Henrique Ferreira; Mendes, André Chaves; Duarte, LuísEnvironmental awareness is a crucial task that robots must perform to navigate autonomously. Moreover, it must be well executed to make navigation safer and collisionfree. Since autonomous mobile robots are being used in dynamic scenarios where a simultaneity of events occurs, it becomes even more difficult to correctly sense and perceive the environment. This paper proposes the integration of a wireless sensor network with the Robotic Operating System – ROS – to incorporate advanced information from the environment into layered cost maps used by the robot to navigate. The system architecture was implemented, evaluated in a simulated environment, tested and validated, and the results obtained showed the effective gain in the computation of the paths and in the reduction of the computational load of the associated subsystems. With positive results in a simulated environment, the system was deployed on a robotic platform and evaluated in a real scenario, through experiments. The results obtained in the experiments prove the gain in the navigation process of the platform due to the better perception of the environment in the tested scenarios.