Eventos Anais de eventos
COBEM 2019
25th International Congress of Mechanical Engineering
DEVELOPMENT OF A CONTROL STRATEGY FOR MOBILE ROBOT NAVIGATION IN UNKNOWN TERRAIN
Submission Author:
Diego Gabriel Gomes Rosa , RJ , Brazil
Co-Authors:
Diego Gabriel Gomes Rosa, Carlos Luiz Machado de souza junior, Marco Antonio Meggiolaro, Luiz Fernando Martha
Presenter: Diego Gabriel Gomes Rosa
doi://10.26678/ABCM.COBEM2019.COB2019-1548
Abstract
This work consists of the development and analysis of a control system for navigation of mobile robots in outdoor applications. A four-wheel-drive robot with sensing based on GNSS (Global Navigation Satellite System) and INS (Inertial Navigation System) estimation is adopted. The main challenge is to create a system that can navigate in a complex environment, such as uneven and rough terrain, as in this condition common sensors usually have its signal lost or changed by interactions with the surroundings. Thus, the objective of this work is to build a control system with simplified but robust behavior. This system is implemented to enable point-to-point programming without the necessity of calibrations according to ground characteristics, even with sudden changes on it. Simulations and experiments are executed, presenting good results by using a single GNSS sensor. Better results can be found in RTK (Real Time Kinematics) mode operation, combining two GNSS devices. Improvements are achievable when accelerometer, gyroscope and compass measurement are combined with GNSS data.
Keywords
Mobile Robots, navigation, rough terrain, GNSS
