Sistema de monitoramento e mapeamento por robô móvel

Abstract

Mobile robotics is a field of robotic useful to the society today, which came from the growth of robotics, a relatively recent science. Useful because it is necessary in various areas as the mining, aerospace, agriculture and other industries. It is a field that is in development, where navigation in unknown environment is a common task. This urges the necessity to have a map of the territory, once it is necessary to know place when it is a risk environment, such as the mapping for security in mines, or when information from specific places that is difficult for humans to access is desired, such as interplanetary or marine explorations, or for inspection work. This work deals with the mapping process made by a mobile robot in an autonomous-manual way, and its monitoring, being able to be assisted by a user, since in the autonomous exclusive mappings errors may occur, requiring a human action to correct these errors or problems. In this work, the mapping is done simultaneously with the monitoring. For this end, speed and ultrasonic sensor are utilized along with a grid mapping mode, an Arduino-based processing board, and a Bluetooth communication technology. Results shown the capacity of the robot to satisfactory map an unknown environment, taking in account the limitations of a low-budget platform.