Ambiente de realidade mista para experimentos com múltiplos robôs de baixo custo

Abstract

In this paper, a mixed reality environment for navigation of multiple mobile robots is proposed. The developed environment allows the integration between virtual and real elements. To identify the real elements, ARTags markers are used, which can be obstacles, targets, robots or objectives, while the virtual ones (inserted into a virtual layer) are elements that can interact with the robots, such as virtual sensors, goals, obstacles, among others, depending on the experiment to be carried out. The Robot Operating System framework is used as a communication tool between the real and virtual layers. As a result, robots with hardware constraints acquire the skill to reach and intercept a moving goal. Three experiments are presented, highlighting the capacity of the proposed tool to provide the navigation of multiple robots in the presence of static and dynamic obstacles and targets. The obtained results validate the proposed mixed reality environment as a flexible experimental tool for the navigation of multiple robots with limited hardware.