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Planeamento e Execução de Manobras de Veículos Aquáticos com Restrições de Movimento
| Content Provider | Semantic Scholar |
|---|---|
| Author | Silva, Graça |
| Copyright Year | 2013 |
| Abstract | Throughout the last few years there has been an exponential growth of the presence of robotic systems in society. Primarily motivated by necessity, the evolution of robotics in the industrial area has come about with the use of industrial manipulators. Nowadays, investigators have been focusing their efforts in the development of mobile robots, which pave the way to a whole new array of questions, and thus, possibilities. A mobile robot is, simply put, a system that must be capable of moving and interacting in a known environment. This paper presents a system that is responsible for automating the task of driving an autonomous underwater vehicle. The system allows to control the AUV through the reading of already defined and instructed maneuvers, by means of the minimum curvature radius that the vehicle can execute, in a way that allows the vehicle to dock or inspect the underwater bed. To reach this point it was also necessary to study some algorithms to be able to create the planning of mobile robot trajectories: (i) a topology that decomposes the configuration space in cell divisions; (ii) artificial potential fields; and (iii) graph search. Contributing to the path planning of autonomous vehicles, the algorithms 1 and 2 were defined by using cinematic and dynamic mathematical models which define a vehicle subjected to nonholonomy restrictions. The result of these algorithms show that the AUV will be docked correctly even in environments where the available space has been restricted. MARES is one of such AUV, developed in the OceanSys laboratory, belonging to the INESC TEC in Faculdade de Engenharia da Universidade do Porto. It’s quite peculiar feature of a propulsion system uncoupled allows it to make movements in restricted environments with the collision risk reduced to a minimum making it the adequate vehicle for the project. |
| File Format | PDF HTM / HTML |
| Alternate Webpage(s) | https://repositorio-aberto.up.pt/bitstream/10216/69200/2/25824.pdf |
| Language | English |
| Access Restriction | Open |
| Content Type | Text |
| Resource Type | Article |
