Uma nova abordagem para o planejador de movimentos RRT e para o algoritmo de campos potenciais artificiais – aplicações de desvio de obstáculos em ambientes dinâmicos
Authors
Luiz Miguel Monteiro Nascimento Pessotti Tavares
Departamento de Engenharia Elétrica, Universidade Federal do Espírito Santo
Mario Sarcinelli-Filho
Departamento de Engenharia Elétrica, Universidade Federal do Espírito Santo
Daniel Khéde Dourado Villa
Departamento de Engenharia Elétrica, Universidade Federal do Espírito Santo
A motion planner is proposed to guide a wheeled mobile robot from initial to final positions. A conventional RRT (Rapidly-exploring Random Tree) algorithm is used for global planning, generating a non-optimal path for the entire route. In addition, a second RRT algorithm is locally executed within a window of 2 m by 2 m, with 5 cm of resolution. This local planning ensures that the robot reacts to eventual new obstacles along its path, besides smoothing the path generated by the global RRT. Complementing the navigation, an obstacle avoidance algorithm based on artificial potential fields is also proposed, ensuring that the system avoids collisions even under disturbances or parametric uncertainties. Simulated and experimental results are also presented, which validate the proposal.
