Projeto e construção de robô móvel tipo micromouse para bancada de busca e salvamento

Abstract

Search and rescue activities have an elevated risk associated with their execution and therefore need well-defined strategies to be done. In this sense, simulation environments are essential to test conditions and analyze results of an implemented method. As a trend, cooperation between different robots (multi-robot system) is an interesting solution to assist in this type of situation. This project aims to develop an autonomous vehicle with sensory ability to identify obstacles and adjacent robots, ability to navigate based on sensors' data, capability to communicate wirelessly with other robots and radiofrequency communication to track objects enabled for this type of message sharing, considering a lower cost comparing to commercial models and using manufacturing equipment available at the University. The design method was based on requirements assessment, budget constraints, component definition, electronic board layout, mechanical structure design, testing and evaluation of results. Construction of the electronic board, which includes SMD circuitry, was not viable with the University's own resources until the date of conclusion for this work. Other components met the requirements, guaranteeing adequate dimensions for vehicle’s operation, wireless communication, perception of the environment and another robot, and identification of location tags spread throughout the scenario by using an RFID module. Provided that the equipment of the University is functioning properly, it is possible to build a personalized autonomous vehicle, with a cost, in this project, 38% lower than the cost for the main brazilian model evaluated.