Protótipo de robô autônomo para mapeamento de áreas com terreno irregular

Abstract

Mobile robotics is increasingly present in the development of society, from simple tasks such as domestic services to more complex tasks such as rescue missions. Currently, one of the main challenges of mobile robots occurs when a robot is inserted in an unknown environment and with dynamic obstacles, having to recalculate its route several times to avoid collisions. Therefore, this article presents the modeling and construction of a low-cost autonomous terrestrial mobile robot prototype, capable of moving around in environments with uneven terrain and mapping the environment to which it is inserted. The prototype was developed using a Raspberry Pi, as well as several sensors capable of detecting obstacles and mapping the area and several actuators, such as DC motors and servomotors, which allow the robot to move in the environment. To make it as cheap as possible, it was decided to 3D print all the chassis parts, allowing greater freedom during the CAD modeling of the prototype and, to facilitate connections, it was decided to develop its own PCB in which the controller was docked, connecting the devices. For programming, we chose to use the ROS (Robot Operating System) to facilitate the connection between the various devices and because it contains packages for implementing the mapping algorithms, such as Gmapping and Hector SLAM. The robot was assembled and the results indicate potential in relation to the mapping and locomotion of the robot in environment with uneven terrain.