Sistema de atravessamento de passagens estreitas para um robot móvel

Abstract

In this article, some solutions that have been developed for the navigation of a mobile robot are presented. These solutions use information perceived by sensors locatedon the robot, only. Using such information, two methods for localisation and navigation were developed. In the first method, called“natural localisation”, the robot uses its sensors to calibrate its position in a previously defined region allowing it to compensate for odometry errors. Another method has been developed to allow the robot to cross narrow passageways using two additional sensors mounted on an appropriately positioned rotating device. This method allowed the robot to detect and cross doors, for example.