Obstacle detection and avoidance for a mobile robot
Autor(a) principal: | |
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Data de Publicação: | 2020 |
Tipo de documento: | Trabalho de conclusão de curso |
Idioma: | eng |
Título da fonte: | Repositório Institucional da UFSCAR |
Texto Completo: | https://repositorio.ufscar.br/handle/ufscar/13971 |
Resumo: | Off-road robots are complex vehicles used in a variety of applications and are capable of operating over rough terrain, and its application has been growing more and more nowadays. With the growing importance of the study and application of autonomous vehicles in rough areas for the users’ safety reasons, researches concerning this kind of vehicle have increased. Works were already done to propose algorithms for non-linear predictive controllers, for the improvement of the stability of the vehicle, for path following and also for a nonlinear observer to estimate the contact cornering stiffness in real-time, but there is also the question of how to proceed if the robot encounters an obstacle that could obstruct its path while it is tracking a path. Thus, this work aims to propose an algorithm that allows a four-wheel, fast off-road, double-steering mobile robot to detect obstacles from the terrain in real-time using the dynamic mapping of the environment, and that also allows the robot to avoid obstacles by following a local path created using a composite Bézier curve, optimized based on the maximum steering that the robot can perform. For the experiments, a sensor for position and perception were used, including the Lidar (Light Detection And Ranging) Velodyne HDL-32E. The treatment of the point cloud provided by it was treated using mainly the PCL library. For reasons of internship duration, the tests performed were done mostly in a virtual environment considering different types of trajectory to be followed by the SPIDO, with obstacles positioned along the way. The final results obtained were satisfactory concerning the expected, thus concluding the validity of the proposed algorithm. |
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Silva, Rafael Gomes daAmar, Faiz BenRoberto, Santos Inouehttp://lattes.cnpq.br/6221209121565990http://lattes.cnpq.br/7347910207598781658d8122-be5b-4d3f-a5bf-db873a6e8f6b2021-03-13T12:01:29Z2021-03-13T12:01:29Z2020-06-22SILVA, Rafael Gomes da. Obstacle detection and avoidance for a mobile robot. 2020. Trabalho de Conclusão de Curso (Graduação em Engenharia Elétrica) – Universidade Federal de São Carlos, São Carlos, 2020. Disponível em: https://repositorio.ufscar.br/handle/ufscar/13971.https://repositorio.ufscar.br/handle/ufscar/13971Off-road robots are complex vehicles used in a variety of applications and are capable of operating over rough terrain, and its application has been growing more and more nowadays. With the growing importance of the study and application of autonomous vehicles in rough areas for the users’ safety reasons, researches concerning this kind of vehicle have increased. Works were already done to propose algorithms for non-linear predictive controllers, for the improvement of the stability of the vehicle, for path following and also for a nonlinear observer to estimate the contact cornering stiffness in real-time, but there is also the question of how to proceed if the robot encounters an obstacle that could obstruct its path while it is tracking a path. Thus, this work aims to propose an algorithm that allows a four-wheel, fast off-road, double-steering mobile robot to detect obstacles from the terrain in real-time using the dynamic mapping of the environment, and that also allows the robot to avoid obstacles by following a local path created using a composite Bézier curve, optimized based on the maximum steering that the robot can perform. For the experiments, a sensor for position and perception were used, including the Lidar (Light Detection And Ranging) Velodyne HDL-32E. The treatment of the point cloud provided by it was treated using mainly the PCL library. For reasons of internship duration, the tests performed were done mostly in a virtual environment considering different types of trajectory to be followed by the SPIDO, with obstacles positioned along the way. The final results obtained were satisfactory concerning the expected, thus concluding the validity of the proposed algorithm.Os robôs off-road são veículos complexos usados em diversas aplicações e são capazes de operar em diversos tipos de terrenos, incluindo terrenos acidentados. Por isso, sua aplicação vem crescendo cada vez mais nos dias de hoje. Com a crescente importância do estudo e aplicação de veículos autônomos em áreas insalubres ou perigosas por razões de segurança aos usuários desses veículos, as pesquisas sobre esse tipo de veículo aumentaram nos últimos anos. Já foram feitos trabalhos com o objetivo de propor algoritmos para controladores preditivos não lineares, para melhorar a estabilidade do veículo, para seguir trajetórias e também para estimar a rigidez das curvas de contato em tempo real utilizando observadores não-lineares, mas há também a questão de como proceder se o robô encontrar um obstáculo que possa obstruir seu caminho enquanto ele estiver rastreando um caminho a ser seguido. Assim, este trabalho tem como objetivo propor um algoritmo que permita a um robô móvel de quatro rodas, rápido, off-road e com dupla direção detectar os obstáculos presentes no terreno em tempo real usando o mapeamento dinâmico do ambiente, permitindo o desvio de obstáculos seguindo um caminho local criado usando uma curva de Bézier composta, otimizada com base na curvatura máxima que o robô pode executar. Para os experimentos foram utilizados diversos sensores de posicionamento e percepção incluindo um sensor Lidar (Light Detection And Ranging) Velodyne HDL-32E. O tratamento da nuvem de pontos fornecida pelo mesmo foi tratada utilizando principalmente a biblioteca PCL. Por motivos de tempo do estágio, os testes realizados foram feitos principalmente em ambiente virtual considerando diferentes tipos de trajetória a serem seguidas pelo SPIDO, com obstáculos posicionados no caminho. Os resultados finais obtidos se mostraram satisfatório com relação ao esperado, concluindo assim a validade do algoritmo proposto.Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)Finance Code 001engUniversidade Federal de São CarlosCâmpus São CarlosEngenharia Elétrica - EEUFSCarAttribution-NonCommercial-NoDerivs 3.0 Brazilhttp://creativecommons.org/licenses/by-nc-nd/3.0/br/info:eu-repo/semantics/openAccessPoint cloudObstacle avoidanceBézier CurvesOff-road robotENGENHARIAS::ENGENHARIA ELETRICAObstacle detection and avoidance for a mobile robotDetecção e desvio de obstáculo para um robô móvelinfo:eu-repo/semantics/publishedVersioninfo:eu-repo/semantics/bachelorThesis6005f610acf-ac05-47bf-9410-49f21fcca116reponame:Repositório Institucional da UFSCARinstname:Universidade Federal de São Carlos (UFSCAR)instacron:UFSCARCC-LICENSElicense_rdflicense_rdfapplication/rdf+xml; charset=utf-8811https://repositorio.ufscar.br/bitstream/ufscar/13971/2/license_rdfe39d27027a6cc9cb039ad269a5db8e34MD52ORIGINALTCC_Rafael_Gomes.pdfTCC_Rafael_Gomes.pdfapplication/pdf10385542https://repositorio.ufscar.br/bitstream/ufscar/13971/3/TCC_Rafael_Gomes.pdfb72ded7e86267ea4da1c7ea25f2d8599MD53TEXTTCC_Rafael_Gomes.pdf.txtTCC_Rafael_Gomes.pdf.txtExtracted texttext/plain93341https://repositorio.ufscar.br/bitstream/ufscar/13971/4/TCC_Rafael_Gomes.pdf.txtc2100e3d889c86a79febc916415593f4MD54THUMBNAILTCC_Rafael_Gomes.pdf.jpgTCC_Rafael_Gomes.pdf.jpgIM Thumbnailimage/jpeg5659https://repositorio.ufscar.br/bitstream/ufscar/13971/5/TCC_Rafael_Gomes.pdf.jpg5c328b34122485993a3abb54bbc57f12MD55ufscar/139712023-09-18 18:32:14.968oai:repositorio.ufscar.br:ufscar/13971Repositório InstitucionalPUBhttps://repositorio.ufscar.br/oai/requestopendoar:43222023-09-18T18:32:14Repositório Institucional da UFSCAR - Universidade Federal de São Carlos (UFSCAR)false |
dc.title.eng.fl_str_mv |
Obstacle detection and avoidance for a mobile robot |
dc.title.alternative.por.fl_str_mv |
Detecção e desvio de obstáculo para um robô móvel |
title |
Obstacle detection and avoidance for a mobile robot |
spellingShingle |
Obstacle detection and avoidance for a mobile robot Silva, Rafael Gomes da Point cloud Obstacle avoidance Bézier Curves Off-road robot ENGENHARIAS::ENGENHARIA ELETRICA |
title_short |
Obstacle detection and avoidance for a mobile robot |
title_full |
Obstacle detection and avoidance for a mobile robot |
title_fullStr |
Obstacle detection and avoidance for a mobile robot |
title_full_unstemmed |
Obstacle detection and avoidance for a mobile robot |
title_sort |
Obstacle detection and avoidance for a mobile robot |
author |
Silva, Rafael Gomes da |
author_facet |
Silva, Rafael Gomes da |
author_role |
author |
dc.contributor.advisor1Lattes.por.fl_str_mv |
|
dc.contributor.authorlattes.por.fl_str_mv |
http://lattes.cnpq.br/7347910207598781 |
dc.contributor.author.fl_str_mv |
Silva, Rafael Gomes da |
dc.contributor.advisor1.fl_str_mv |
Amar, Faiz Ben |
dc.contributor.advisor-co1.fl_str_mv |
Roberto, Santos Inoue |
dc.contributor.advisor-co1Lattes.fl_str_mv |
http://lattes.cnpq.br/6221209121565990 |
dc.contributor.authorID.fl_str_mv |
658d8122-be5b-4d3f-a5bf-db873a6e8f6b |
contributor_str_mv |
Amar, Faiz Ben Roberto, Santos Inoue |
dc.subject.eng.fl_str_mv |
Point cloud Obstacle avoidance Bézier Curves Off-road robot |
topic |
Point cloud Obstacle avoidance Bézier Curves Off-road robot ENGENHARIAS::ENGENHARIA ELETRICA |
dc.subject.cnpq.fl_str_mv |
ENGENHARIAS::ENGENHARIA ELETRICA |
description |
Off-road robots are complex vehicles used in a variety of applications and are capable of operating over rough terrain, and its application has been growing more and more nowadays. With the growing importance of the study and application of autonomous vehicles in rough areas for the users’ safety reasons, researches concerning this kind of vehicle have increased. Works were already done to propose algorithms for non-linear predictive controllers, for the improvement of the stability of the vehicle, for path following and also for a nonlinear observer to estimate the contact cornering stiffness in real-time, but there is also the question of how to proceed if the robot encounters an obstacle that could obstruct its path while it is tracking a path. Thus, this work aims to propose an algorithm that allows a four-wheel, fast off-road, double-steering mobile robot to detect obstacles from the terrain in real-time using the dynamic mapping of the environment, and that also allows the robot to avoid obstacles by following a local path created using a composite Bézier curve, optimized based on the maximum steering that the robot can perform. For the experiments, a sensor for position and perception were used, including the Lidar (Light Detection And Ranging) Velodyne HDL-32E. The treatment of the point cloud provided by it was treated using mainly the PCL library. For reasons of internship duration, the tests performed were done mostly in a virtual environment considering different types of trajectory to be followed by the SPIDO, with obstacles positioned along the way. The final results obtained were satisfactory concerning the expected, thus concluding the validity of the proposed algorithm. |
publishDate |
2020 |
dc.date.issued.fl_str_mv |
2020-06-22 |
dc.date.accessioned.fl_str_mv |
2021-03-13T12:01:29Z |
dc.date.available.fl_str_mv |
2021-03-13T12:01:29Z |
dc.type.status.fl_str_mv |
info:eu-repo/semantics/publishedVersion |
dc.type.driver.fl_str_mv |
info:eu-repo/semantics/bachelorThesis |
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bachelorThesis |
status_str |
publishedVersion |
dc.identifier.citation.fl_str_mv |
SILVA, Rafael Gomes da. Obstacle detection and avoidance for a mobile robot. 2020. Trabalho de Conclusão de Curso (Graduação em Engenharia Elétrica) – Universidade Federal de São Carlos, São Carlos, 2020. Disponível em: https://repositorio.ufscar.br/handle/ufscar/13971. |
dc.identifier.uri.fl_str_mv |
https://repositorio.ufscar.br/handle/ufscar/13971 |
identifier_str_mv |
SILVA, Rafael Gomes da. Obstacle detection and avoidance for a mobile robot. 2020. Trabalho de Conclusão de Curso (Graduação em Engenharia Elétrica) – Universidade Federal de São Carlos, São Carlos, 2020. Disponível em: https://repositorio.ufscar.br/handle/ufscar/13971. |
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https://repositorio.ufscar.br/handle/ufscar/13971 |
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eng |
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eng |
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600 |
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5f610acf-ac05-47bf-9410-49f21fcca116 |
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Attribution-NonCommercial-NoDerivs 3.0 Brazil http://creativecommons.org/licenses/by-nc-nd/3.0/br/ info:eu-repo/semantics/openAccess |
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Attribution-NonCommercial-NoDerivs 3.0 Brazil http://creativecommons.org/licenses/by-nc-nd/3.0/br/ |
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openAccess |
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Universidade Federal de São Carlos Câmpus São Carlos Engenharia Elétrica - EE |
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UFSCar |
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Universidade Federal de São Carlos Câmpus São Carlos Engenharia Elétrica - EE |
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