Browsing by Author "Zawadniak, Pedro Victor Fontoura"
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- Micromouse 3D simulator with dynamics capability: a unity environment approachPublication . Zawadniak, Pedro Victor Fontoura; Piardi, Luis; Brito, Thadeu; Lima, José; Costa, Pedro; Monteiro, André Luiz Régis; Costa, Paulo Gomes da; Pereira, Ana I.The micromouse competition has been gaining prominence in the robotic atmosphere, due to the challenging and multidisciplinary characteristics provided by the teams’ duels, being a gateway for those who intend to deepen their studies in autonomous robotics. In this context, this paper presents a realistic micromouse simulator developed with Unity software, a widely game engine with dynamics and 3D development platform used. The developed simulator has hardware-in-the-loop capabilities, aims to be simple to use, it can be customizable, and designed to be as similar as possible to the real robot configurations. In this way, the proposed simulator requires few modifications to port the microcontroller code to a real robot. Therefore, the framework presented in this work allows the user to simulate the development of new algorithm strategies dedicated to competition and also hardware updates. The simulation supports several mazes, from previous competitions and has the possibility to add different mazes elaborated by the user. Thus, the features and functionality of the simulator can serve to accelerate the project’s development of the beginning and advanced competitors, using real models to reduce the gap between the mouse robot behavior in the simulation and the reality. The developed simulation environment is available to the community. © 2021, The Author(s).
- A micromouse scanning and planning algorithm based on modified floodfill methodology with optimizationPublication . Zawadniak, Pedro Victor Fontoura; Piardi, Luis; Brito, Thadeu; Lima, José; Costa, Pedro; Monteiro, André Luiz Régis; Costa, Paulo Gomes da; Pereira, Ana I.Micromouse is one of the most popular competitions among mobile robotics researchers. This competition brings together several challenges in the field of mobile robotics. It represents an excellent tool in competition field since it stimulates the development and multidisciplinary knowledge as well as group cooperation to carry out the best approach. This work presents a contribution to this issue on exploring the unknown environment and the robot location to obtain an optimized trajectory in the maze, using the modified Floodfill algorithm that considers the cost for the robot rotations around its axis. A comparison is conducted between the modified algorithm and the traditional Floodfill procedure.
- UnimouseSim: a real-time mobile robot simulator with hardware-in-the-loop support for the micromouse contestPublication . Zawadniak, Pedro Victor Fontoura; Lima, José; Costa, Pedro Gomes; Monteiro, André Luiz RégisMobile robots are applied to various industrial contexts, performing repetitive and highperformance tasks. One way of generating interest in the study of robotics in this context is through robotics competitions. The aim of this work is the development of a 3D mobile robotics simulator with hardware-in-the-loop capabilities. It includes developing models for standard components, such as time-of-flight sensors, wheel encoders, and direct current motors. The simulator interacts with development boards, programmed through Arduino-compatible libraries for communication with each robot component. By having the microcontrollers process each sensor’s output and determine the appropriate motor commands, the microcontroller’s limitations are present even during the simulation. The simulator contains different environments, where users have to complete challenges that require sensor data to be interpreted and motor commands to be calculated for different purposes, namely following walls, controlling the robot speed, and developing algorithms for completing the micromouse competition. A modification to the flood fill algorithm, commonly used in the micromouse competition, was proposed and analysed. It targets robots with a simple movement set, unable to perform turns while maintaining linear speed. The simulator was used in the RoboSTEM hackathon, where students were presented with the challenge environments and developed their solutions. It provided insights about the problems they were asked to solve and the simulator software itself.