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controle.
Palavras-chave: SODWDIRUPDGHURE{PyYHODUTXLWHWXUDDEHUWDLQWHUIDFHGHFRPXQLFDomR
ABSTRACT: The research on mobile robots has been driven by technological advances. There are
research fronts on different aspects and challenges of mobile robots, among which are topics such as
locomotion, navigation and control architectures. This growth in researches also leads to greater need
for mobile robot platforms that can be used for research and educational purposes. This work presents
an alternative of low cost mobile robot platform with an open hardware, software and control architecture, for use in general purposes activities. This platform aims to ease and turn more Àe[ible the development process of research and application on robotics through a simpli¿ed communication interface and
abstracting the heterogeneity of the peripheral hardware devices, being able to offer greater freedom in
relation to programming languages, control paradigms and control technologies.
Keywords: mobile robot platform, open architecture, communication interface.
1. INTRODUÇÃO
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seu controle de locomoção.
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98
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'RLVVHQVRUHVySWLFRVUHÀH[LYRV
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'RLV VHQVRUHV ySWLFRV UHÀH[LYRV
GHVROR
Um sonar.
2 JHUHQFLDPHQWR GRV GLVSRVLWLYRV
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2VRIWZDUH HPEDUFDGR pH[HFXWDGRSHORPLFURFRQWURODGRU$)LJXUDLOXVWUD
o diagrama do Controlador concebido.
'HYLGR j OLPLWDGD WD[D GH WUDQVIHUrQFLD VXSRUWDGD SHOR EDUUDPHQWR GH FRPXQLFDomR DGRWDGR XP VLPSOHV SURWRFROR
de comunicação foi concebido de modo a
DOFDQoDU R JUDX GH DEVWUDomR VX¿FLHQWH
SDUD JDUDQWLU D FRQHFWLYLGDGH GDV PHQVDgens entre o Sistema de Controle e o ConWURODGRU1HVWHSURWRFRORDFRPXQLFDomRp
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& Sociedade
,QWHUFLrQFLD6RFLHGDGH,6619RO1
$ $3, IRL HVFULWD HP OLQJXDJHP
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FRPSRUWRVGH(6HQWUDGDHVDtGDHWDPEpPSRUVHWUDWDUGHXPDOLQJXDJHPSRSXODUDOpPGHSRVVXLUXPDYDVWDEDVHGHFRnhecimento na internet.
4. TESTES E RESULTADOS
Figura 3 - 'LDJUDPD HP EORFRV GRV GLVSRVLWLYRV LPSOHPHQWDGRV
S
Início
S
Segue
Protocolo?
Mensagem?
N
Extração:
Comando e
Parâmetros
N
Mensagem
Erro
Execução
N
Envio
Resposta
S
Requer
Resposta?
S
Figura 4 - )OX[RJUDPDGR¿UPZDUHGR&RQWURODGRU
HVSHFt¿FRV 2V FRPDQGRV GHYHP FRQWHU
FDUDFWHUHVTXHFRUUHVSRQGDPDRFyGLJRGH
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LPSOHPHQWDGDFRPRLQWXLWRGHLQWHUPHGLDU
H IDFLOLWDU R SURFHVVR GH FRPXQLFDomR HQtre o software de Controle e o Controlador.
(VWD$3, WHP D IXQomR GH DEVWUDLU R HQYLR
GHFRPDQGRVLQWHUSUHWDURVGDGRVGHUHVSRVWDHQYLDGRVSHOR&RQWURODGRUHDLQGDp
HQFDUUHJDGD GH HIHWXDU HYHQWXDLV FiOFXORV
H FRQYHUV}HV QHFHVViULRV SDUD D FRQ¿JXUDomR GRV GLVSRVLWLYRV GR 3,& GH PRGR D
DOLYLDUDFDUJDGHSURFHVVDPHQWRGRPLFURFRQWURODGRU XWLOL]DGR $R XWLOL]DU HVWD $3,
SDUD GHVHQYROYHU DSOLFDo}HV FRP D SODWDIRUPDQmRpQHFHVViULRFRQKHFHUDIXQGR
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GLVSRVLWLYRVGHhardware.
99
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GD SODWDIRUPD TXH PRWLYDUDP R VHX GHVHQYROYLPHQWR %XVFRXVH DLQGD DWUDYpV
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em termos de hardware como de software.
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tecnologias de Sistema de Controle.
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DPELHQWH UHVSRQGHQGR DRV HVWtPXORV GR
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WDPEpP SRGH VHU REVHUYDGR QHVWH H[SHULPHQWRpVHDGLVSRVLomRGRVVHQVRUHVHGRV
DWXDGRUHV HVFROKLGRV H LPSOHPHQWDGRV QR
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H QDYHJDU GH IRUPD DSURSULDGD DWUDYpV GR
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Interciência
& Sociedade
,QWHUFLrQFLD6RFLHGDGH,6619RO1
FRPRWDUHIDHVFROKLGDSDUDRH[SHULPHQWR
IRLGHWHUPLQDGRTXHRURE{GHYHULDQDYHJDU
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FRPREDVHRFRPSRUWDPHQWRGRURE{PyYHO
Kihon ao interagir com o ambiente.
(VWHH[SHULPHQWRIRLUHDOL]DGRHPSUHJDQGRXPQRWHERRNDWXDQGRFRPRXPD
EDVHFRPSXWDFLRQDOUHPRWDHVXDFRPXQLFDomRVHP¿RIRLHVWDEHOHFLGDSRUPHLRGH
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DSUR[LPDUVH GDV FRQGLo}HV XVXDLV QDV
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FRPSXWDGRUHV SHVVRDLV SDUD GHVHQYROYHU
H[SHULPHQWRVHQYROYHQGRWpFQLFDVGHQDYHJDomRHORFRPRomRGHURE{VPyYHLV$EDVH
FRPSXWDFLRQDO UHPRWD H[HFXWD R software
GR 6LVWHPD GH &RQWUROH HP XP FRPSXWDGRUFXMRVLVWHPDRSHUDFLRQDO pR0LFURVRIW
:LQGRZV &RPSXWDGRUHV SHVVRDLV HP
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dos usuários, tornando tais ambientes uma
DOWHUQDWLYDFRPXPSDUDRGHVHQYROYLPHQWR
de software VHMD SRU SDUWH GRV XVXiULRV
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SDUDGLJPD FRPSRUWDPHQWDO XPD YH] TXH
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HP DQLPDLV$ SDUWLU GLVVR XP VLPSOHV DOJRULWPRGHVHJXLUSDUHGHIRLLPSOHPHQWDGR
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100
Figura 5 -'LVSRVLomRGRVVHQVRUHVGR.LKRQ
XWLOL]DGRVQR([SHULPHQWR
GRVRQDUpFROHWDGDDRORQJRGRVJUDXV
VHQGR XPD PHGLomR D FDGD JUDXV GD
SDUWHIURQWDOGDEDVHGRURE{PyYHO.LKRQ
O direcionamento do Sonar foi realizado
XWLOL]DQGR R VHUYRPRWRU (VVDV PHGLo}HV
VmR IHLWDV GH PRGR D GHWHFWDU D SUHVHQoD
GD SDUHGH HP FRQMXQWR FRP OHLWXUDV GRV
VHQVRUHV GH SUR[LPLGDGH QD GHWHFomR GH
uma colisão frontal iminente. Os sensores
GHSUR[LPLGDGHVDX[LOLDUDPQDGHWHFomRGH
FROLV}HVLPLQHQWHVQRVFDVRVHPTXHRVRQDU XWLOL]DGR QmR IRL FDSD] GH GHWHFWDU RV
REVWiFXORV$YHORFLGDGHGHWUDomRGRVPRWRUHVIRLFRQWURODGDSRUPRGXODomRGHODUJXUDGHSXOVR±3:0
$ SDUWLU GDV PHGLo}HV OHYDQWDGDV
SHORV VHQVRUHV R .LKRQ IRL FDSD] GH QDYHJDUDWUDYpVGRDPELHQWHDFRPSDQKDQGR
D SDUHGH HQFRQWUDGD 2 WHPSR GH UHVSRVWD GR VLVWHPD SURFHVVDPHQWR H FRPXQLFDomR PpGLR GH DSUR[LPDGDPHQWH PV
QmR FRPSURPHWHX D UHDWLYLGDGH GR .LKRQ
/RJR R URE{ PyYHO IRL FDSD] GH FXPSULU
R REMHWLYR GR H[SHULPHQWR 4XDQWR j $3,
GR FRQWURODGRU XWLOL]DGR HVWH IRL FDSD] GH
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REMHWLYRDYHULJXDUDFDSDFLGDGHGDSODWDIRUPDHPRIHUHFHUVXSRUWHDXPDDSOLFDomRH
TXHQHVWHFDVRIRLEDVHDGDHPXPWUDEDOKRUHDOL]DGRSRU[9], onde os autores coleWDUDPHHVWXGDUDPDXPLGDGHUHODWLYDGRDU
Interciência
& Sociedade
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GHQWURGHXPDHVWXIDDJUtFROD$HVWXIDWHYH
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cm, em três horários ao longo do dia. NesVH FRQWH[WR IRL DWULEXtGR DR URE{ PyYHO D
PLVVmRGHH[HFXWDUXPDWDUHIDHPXPFHnário similar, seguindo um circuito determiQDGRFRPOLQKDVSUHWDVQRFKmRHFROHWDQGR
DPRVWUDVGHWHPSHUDWXUDHPWUrVGLIHUHQWHV
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IRL HODERUDGR EXVFDQGR DYDOLDU D ÀH[LELOLGDGHGDSODWDIRUPDGHURE{PyYHOHPWHUmos de tecnologias de sistemas de controle
H VXD XVDELOLGDGH 3DUD WDO HPSUHJRXVH
XP $UGXLQR 8QR 5 SDUD UHDOL]DU R 6LVWHma de Controle. O sistema de controle foi
HPEDUFDGRQRURE{PyYHO¿[DQGRRVREUH
RVXSRUWHGRURE{PyYHO.LKRQ(SRUPHLR
GHVHXSRUWRVHULDOR$UGXLQRIRLFRQHFWDGR
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DGLFLRQDGRVDRURE{PyYHOGHPRGRTXHR
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DPELHQWHHPWUrVDOWXUDVGLIHUHQWHVDSDUWLU
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.LKRQHFDGDVHQVRUIRL¿[DGRQDFROXQDGH
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$ GLVSRVLomR GRV GLVSRVLWLYRV GH
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Kihon são mostrados na Figura 6.
Para seguir o traçado do circuito,
XPSDUGHVHQVRUHVySWLFRUHÀH[LYRVVHQVRUHVSDUDVHJXLUOLQKDIRUDPHPSUHJDGRV
SDUDHIHWXDUHPDOHLWXUDGDYDULDomRGDFRloração do solo. O circuito foi marcado com
101
Figura 6 -'LVSRVLomRGRVGLVSRVLWLYRV
XWLOL]DGRVQR([SHULPHQWR
XPD ¿WD GH FRU SUHWD VREUH R FKmR GH FRU
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transmitidos a uma base de coleta de dados
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& Sociedade
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um software¿FRXUHVSRQViYHOSRUDUPD]HQDURVGDGRVUHFHELGRVHPXPDUTXLYRGH
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ambiente Arduino.
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de coleta de dados remota e os três sensoUHV GH WHPSHUDWXUD FRQHFWDGRV GLUHWDPHQte ao Sistema de Controle. No entanto, em
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5. CONCLUSÕES GERAIS
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6. REFERÊNCIAS BIBLIOGRÁFICAS
[1] %/$1. ' .80$5 ' 0(('(1 /<$1&2 +
Pyro: a Python-based versatile programming environment for teaching robotics -RXUQDO RQ (GXFDWLRQDO
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[2] %522.6 5$ $ robusted layered control system for a mobile robot,(((-RXUQDORI5RERWLFVDQG
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