Virtual simulator for mobile robots navigation systems
Autor(a) principal: | |
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Data de Publicação: | 2008 |
Outros Autores: | , , |
Tipo de documento: | Artigo de conferência |
Idioma: | eng |
Título da fonte: | Repositório Institucional da UNESP |
Texto Completo: | http://dx.doi.org/10.1109/CCA.2008.4629605 http://hdl.handle.net/11449/70608 |
Resumo: | This paper presents the virtual environment implementation for project simulation and conception of supervision and control systems for mobile robots, that are capable to operate and adapting in different environments and conditions. This virtual system has as purpose to facilitate the development of embedded architecture systems, emphasizing the implementation of tools that allow the simulation of the kinematic conditions, dynamic and control, with real time monitoring of all important system points. For this, an open control architecture is proposal, integrating the two main techniques of robotic control implementation in the hardware level: systems microprocessors and reconfigurable hardware devices. The implemented simulator system is composed of a trajectory generating module, a kinematic and dynamic simulator module and of a analysis module of results and errors. All the kinematic and dynamic results shown during the simulation can be evaluated and visualized in graphs and tables formats, in the results analysis module, allowing an improvement in the system, minimizing the errors with the necessary adjustments optimization. For controller implementation in the embedded system, it uses the rapid prototyping, that is the technology that allows, in set with the virtual simulation environment, the development of a controller project for mobile robots. The validation and tests had been accomplish with nonholonomics mobile robots models with diferencial transmission. © 2008 IEEE. |
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Virtual simulator for mobile robots navigation systemsConcurrent engineeringEmbedded systemsError analysisErrorsIntegrated circuitsJob analysisKinematicsMobile robotsRapid prototypingReal time systemsRoboticsRobotsSimulatorsVirtual realityControl applicationsControl architecturesController implementationDynamic simulatorsEmbedded architecturesInternational conferencesKinematic conditionsNonholonomicsProject simulationPrototypingReal-time monitoringReconfigurable hardware devicesRobotic controlsVirtual environmentVirtual simulation environmentVirtual simulatorsVirtual systemsControl systemsThis paper presents the virtual environment implementation for project simulation and conception of supervision and control systems for mobile robots, that are capable to operate and adapting in different environments and conditions. This virtual system has as purpose to facilitate the development of embedded architecture systems, emphasizing the implementation of tools that allow the simulation of the kinematic conditions, dynamic and control, with real time monitoring of all important system points. For this, an open control architecture is proposal, integrating the two main techniques of robotic control implementation in the hardware level: systems microprocessors and reconfigurable hardware devices. The implemented simulator system is composed of a trajectory generating module, a kinematic and dynamic simulator module and of a analysis module of results and errors. All the kinematic and dynamic results shown during the simulation can be evaluated and visualized in graphs and tables formats, in the results analysis module, allowing an improvement in the system, minimizing the errors with the necessary adjustments optimization. For controller implementation in the embedded system, it uses the rapid prototyping, that is the technology that allows, in set with the virtual simulation environment, the development of a controller project for mobile robots. The validation and tests had been accomplish with nonholonomics mobile robots models with diferencial transmission. © 2008 IEEE.Electrical Engineering Department State University of LondrinaMechanical Engineering Faculty State University of CampinasDepartment of Science of Computation UNESP, BauruDepartment of Science of Computation UNESP, BauruUniversidade Estadual de Londrina (UEL)Universidade Estadual de Campinas (UNICAMP)Universidade Estadual Paulista (Unesp)De Melo, Leonimer FlávioRosário, João MaurícioFerasoli Filho, Humberto [UNESP]Prado, José Guilherme Simão [UNESP]2014-05-27T11:23:41Z2014-05-27T11:23:41Z2008-10-13info:eu-repo/semantics/publishedVersioninfo:eu-repo/semantics/conferenceObject281-286http://dx.doi.org/10.1109/CCA.2008.4629605Proceedings of the IEEE International Conference on Control Applications, p. 281-286.http://hdl.handle.net/11449/7060810.1109/CCA.2008.46296052-s2.0-533491720447838983448809586Scopusreponame:Repositório Institucional da UNESPinstname:Universidade Estadual Paulista (UNESP)instacron:UNESPengProceedings of the IEEE International Conference on Control Applicationsinfo:eu-repo/semantics/openAccess2024-04-23T16:11:26Zoai:repositorio.unesp.br:11449/70608Repositório InstitucionalPUBhttp://repositorio.unesp.br/oai/requestopendoar:29462024-08-05T18:38:34.354352Repositório Institucional da UNESP - Universidade Estadual Paulista (UNESP)false |
dc.title.none.fl_str_mv |
Virtual simulator for mobile robots navigation systems |
title |
Virtual simulator for mobile robots navigation systems |
spellingShingle |
Virtual simulator for mobile robots navigation systems De Melo, Leonimer Flávio Concurrent engineering Embedded systems Error analysis Errors Integrated circuits Job analysis Kinematics Mobile robots Rapid prototyping Real time systems Robotics Robots Simulators Virtual reality Control applications Control architectures Controller implementation Dynamic simulators Embedded architectures International conferences Kinematic conditions Nonholonomics Project simulation Prototyping Real-time monitoring Reconfigurable hardware devices Robotic controls Virtual environment Virtual simulation environment Virtual simulators Virtual systems Control systems |
title_short |
Virtual simulator for mobile robots navigation systems |
title_full |
Virtual simulator for mobile robots navigation systems |
title_fullStr |
Virtual simulator for mobile robots navigation systems |
title_full_unstemmed |
Virtual simulator for mobile robots navigation systems |
title_sort |
Virtual simulator for mobile robots navigation systems |
author |
De Melo, Leonimer Flávio |
author_facet |
De Melo, Leonimer Flávio Rosário, João Maurício Ferasoli Filho, Humberto [UNESP] Prado, José Guilherme Simão [UNESP] |
author_role |
author |
author2 |
Rosário, João Maurício Ferasoli Filho, Humberto [UNESP] Prado, José Guilherme Simão [UNESP] |
author2_role |
author author author |
dc.contributor.none.fl_str_mv |
Universidade Estadual de Londrina (UEL) Universidade Estadual de Campinas (UNICAMP) Universidade Estadual Paulista (Unesp) |
dc.contributor.author.fl_str_mv |
De Melo, Leonimer Flávio Rosário, João Maurício Ferasoli Filho, Humberto [UNESP] Prado, José Guilherme Simão [UNESP] |
dc.subject.por.fl_str_mv |
Concurrent engineering Embedded systems Error analysis Errors Integrated circuits Job analysis Kinematics Mobile robots Rapid prototyping Real time systems Robotics Robots Simulators Virtual reality Control applications Control architectures Controller implementation Dynamic simulators Embedded architectures International conferences Kinematic conditions Nonholonomics Project simulation Prototyping Real-time monitoring Reconfigurable hardware devices Robotic controls Virtual environment Virtual simulation environment Virtual simulators Virtual systems Control systems |
topic |
Concurrent engineering Embedded systems Error analysis Errors Integrated circuits Job analysis Kinematics Mobile robots Rapid prototyping Real time systems Robotics Robots Simulators Virtual reality Control applications Control architectures Controller implementation Dynamic simulators Embedded architectures International conferences Kinematic conditions Nonholonomics Project simulation Prototyping Real-time monitoring Reconfigurable hardware devices Robotic controls Virtual environment Virtual simulation environment Virtual simulators Virtual systems Control systems |
description |
This paper presents the virtual environment implementation for project simulation and conception of supervision and control systems for mobile robots, that are capable to operate and adapting in different environments and conditions. This virtual system has as purpose to facilitate the development of embedded architecture systems, emphasizing the implementation of tools that allow the simulation of the kinematic conditions, dynamic and control, with real time monitoring of all important system points. For this, an open control architecture is proposal, integrating the two main techniques of robotic control implementation in the hardware level: systems microprocessors and reconfigurable hardware devices. The implemented simulator system is composed of a trajectory generating module, a kinematic and dynamic simulator module and of a analysis module of results and errors. All the kinematic and dynamic results shown during the simulation can be evaluated and visualized in graphs and tables formats, in the results analysis module, allowing an improvement in the system, minimizing the errors with the necessary adjustments optimization. For controller implementation in the embedded system, it uses the rapid prototyping, that is the technology that allows, in set with the virtual simulation environment, the development of a controller project for mobile robots. The validation and tests had been accomplish with nonholonomics mobile robots models with diferencial transmission. © 2008 IEEE. |
publishDate |
2008 |
dc.date.none.fl_str_mv |
2008-10-13 2014-05-27T11:23:41Z 2014-05-27T11:23:41Z |
dc.type.status.fl_str_mv |
info:eu-repo/semantics/publishedVersion |
dc.type.driver.fl_str_mv |
info:eu-repo/semantics/conferenceObject |
format |
conferenceObject |
status_str |
publishedVersion |
dc.identifier.uri.fl_str_mv |
http://dx.doi.org/10.1109/CCA.2008.4629605 Proceedings of the IEEE International Conference on Control Applications, p. 281-286. http://hdl.handle.net/11449/70608 10.1109/CCA.2008.4629605 2-s2.0-53349172044 7838983448809586 |
url |
http://dx.doi.org/10.1109/CCA.2008.4629605 http://hdl.handle.net/11449/70608 |
identifier_str_mv |
Proceedings of the IEEE International Conference on Control Applications, p. 281-286. 10.1109/CCA.2008.4629605 2-s2.0-53349172044 7838983448809586 |
dc.language.iso.fl_str_mv |
eng |
language |
eng |
dc.relation.none.fl_str_mv |
Proceedings of the IEEE International Conference on Control Applications |
dc.rights.driver.fl_str_mv |
info:eu-repo/semantics/openAccess |
eu_rights_str_mv |
openAccess |
dc.format.none.fl_str_mv |
281-286 |
dc.source.none.fl_str_mv |
Scopus reponame:Repositório Institucional da UNESP instname:Universidade Estadual Paulista (UNESP) instacron:UNESP |
instname_str |
Universidade Estadual Paulista (UNESP) |
instacron_str |
UNESP |
institution |
UNESP |
reponame_str |
Repositório Institucional da UNESP |
collection |
Repositório Institucional da UNESP |
repository.name.fl_str_mv |
Repositório Institucional da UNESP - Universidade Estadual Paulista (UNESP) |
repository.mail.fl_str_mv |
|
_version_ |
1808128957967499264 |