Development of a dynamic path for a toxic substances mapping mobile robot in industry environment

Piardi, Luis; Lima, José; Costa, Paulo Gomes da; Brito, Thadeu

http://hdl.handle.net/10198/16266

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Authors

Piardi, Luis

Lima, José

Costa, Paulo Gomes da

Brito, Thadeu

Abstract(s)

Some industries have critical areas (dangerous or hazardous) where the presence of a human must be reduced or avoided. In some cases, there are areas where humans should be replaced by robots. The present work uses a robot with differential drive to scan an environment with known and unknown obstacles, defined in 3D simulation. It is important that the robot be able to make the right decisions about its way without the need of an operator. A solution to this challenge will be presented in this paper. The control application and its communication module with a simulator or a real robot are proposed. The robot can perform the scan, passing through all the waypoints arranged in a grid. The results are presented, showcasing the robot’s capacity to perform a viable trajectory without human intervention.

Keywords

Simulation Mobile robotics Path planning

URI

http://hdl.handle.net/10198/16266

Citation

Piardi, Luis; Lima, José; Costa, Paulo; Brito, Thadeu (2018). Development of a dynamic path for a toxic substances mapping mobile robot in industry environment. In Kacprzyk, Janusz (Ed.) Advances in Intelligent Systems and Computing. London: Springer. 694, p. 655 - 667. ISBN 978-3-319-70836-2