Redes de Petri de alto nível e PNRD invertida associadas ao controle de robôs móveis: uma abordagem para operações de busca e salvamento em trilhas e travessias

Abstract

Several people are interesting for outdoor activities. A common example in Brazil is walking on trails and crossings along natural biomes. However, beginners do not know the area or have a guide, and many are not physically ready to complete the trek. Consequently, the number of injured or lost people on trails and crossings are increasing. Due to the social appeal, some technological areas carry out scientific studies on search and rescue operations, such as mobile robotics and artificial intelligence. However, solutions for trekking environments are little reported in the literature. This thesis proposes a solution, based on high-level Petri nets and RFID technology, applied in the control of mobile robots for search and rescue operations on trails and crossings. For this, the concept of a technique called Petri net inside RFID database (PNRD), originally developed for tracking and controlling the movement of passive objects along logistic and manufacturing processes, is used. For characteristic search and rescue environments, where there is interest in tracking and controlling the movement of agents with active behavior, a structural modification of PNRD, called inverted PNRD or iPNRD, is proposed. The thesis also presents two control architectures used to integrate the models in high-level Petri nets, developed in the CPN Tools, with devices embedded in mobile robots, as well as with the simulation environment developed in the V-REP platform. Operational tests indicate that the proposed method tends to increase the user's traceability and direct the searches to a reduced area, increasing the chances of rescue.