EST - Artigos de Periódicos

URI permanente para esta coleçãohttps://ri.uea.edu.br/handle/riuea/4779

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Desenvolvimento de um robô móvel do tipo Car-Like para realização de caminhos pré-definidos
(Universidade do Estado do Amazonas, 2024-02-27) Seixas, João Aristeu Cardoso; Araújo, Rodrigo Farias; Bessa, Iury Valente de; Queiroz, Luiz Alberto; Gadelha, Vitor Fernando de Souza
The development of Car-Like mobile robots encompasses the creation of autonomous vehicles that emulate the motion of conventional cars. Although the applications for such robots are diverse, this work focuses on the challenge of path following. The goal is to position the robot near an initial point on a path defined by a time-independent function, f(x). Through lateral control, the intention is for the robot to align itself with the path and follow it. The development of the controller to stabilize the robot on the path will adopt an approach using Linear Matrix Inequalities (LMI). Additionally, the project aims to develop both the hardware and software for a scaled-down prototype of a Car-Like mobile robot. Regarding the hardware, the process involves 3D modeling using CAD software, 3D printing of parts, and the design and manufacturing of a printed circuit board to capture sensors data and activate the system’s actuators. In the realm of software, the controller’s implementation will be on a computer with the Robot Operating System (ROS). Consequently, the microcontroller installed on the robot will be responsible only for communication with the computer via TCP/IP, sensors readings and actuators commands.
Robô móvel aspirador autônomo para ambientes domésticos
(Universidade do Estado do Amazonas, 2021-12-20) Marques, Kathrian de França; Bastos, Moisés Pereira; Bastos, Moises Pereira; Kimura Junior , Almir; Mazaira Morales, Israel; Araújo, Rodrigo Farias; Leal, Cleto Cavalcante de Souza
Based on the areas of home automation and mobile robotics, this project presents a technological solution to help clean the floor in residential environments. Analyzing daily life at home, there is a need to automate repetitive and tiring tasks, aiming to optimize the use of time spent and, consequently, increase the comfort of users. This project aimed to model and develop a prototype of a mobile robot to be designed to vacuum solid dirt and dust on the floor of domestic environments. Additive manufacturing was proposed in the construction of mechanical parts of the robot chassis, to integrate with the electronic sensing and control systems. The processing and control system was carried out by the Arduino platform, which provides hardware and free software solutions for prototyping automation systems accessible at low cost. The applicability of the robot is restricted to domestic environments with flat horizontal dry floors. At the end of the project, the result was a functional prototype of a mobile robot capable of suctioning dirt and dust from the floor and moving with certain autonomy in a simple domestic environment. The robot is designed to avoid obstacles, walls and steps.