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Evaluation of mobile autonomous robot in trajectory optimization

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Abstract

The demand for mobile robotics applications has grown considerably in recent years, especially due to the advent of industry 4.0, which has as one of its pillars the autonomous robotics field, the subject of this research. In this context, autonomous mobile robots must interact with the world to achieve their goals. One of the main challenges regarding mobile robots is the navigation problem: a robot can face several problems according to the type of sensor that is chosen in each application. The use of computer vision as a navigation tool in robotics represents an interesting alternative for controlling the movement of a mobile robot, and represent several vision techniques that gained more space in the last few years. Therefore, this work’s research proposes the development of a control center to assist navigation and location of mobile robots in closed environments using the global view technique. In addition to computer vision, wireless communication (WiFi) between the exchange and the robots has been investigated to date. The results obtained in the initial steps of the project’s development were promising, in which data from an autonomous robot is compared with a human-guided robot. Through the algorithm developed for the project, it was possible to transform the collected data into the robot’s kinematics necessary to take the correct path to the destination using multivalued logic as a control algorithm. The optimization of the trajectory between the origin and the destination is performed using the A* and Dijkstra algorithms for calculating the shortest path.

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Authors and Affiliations

  1. Departments of Computer and Electrical Engineering, Federal Technological University of Paraná, Av. Alberto Carazzai, 1640, Centro, Cornélio Procópio, PR, 86.300-000, Brazil

    Rodrigo Henrique Cunha Palácios, João Paulo Scarabelo Bertoncini, Gabriel Henrique Oliveira Uliam, Márcio Mendonça & Lucas Botoni de Souza

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  1. Rodrigo Henrique Cunha Palácios
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  2. João Paulo Scarabelo Bertoncini
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  3. Gabriel Henrique Oliveira Uliam
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  4. Márcio Mendonça
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  5. Lucas Botoni de Souza
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Correspondence to Rodrigo Henrique Cunha Palácios.

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Palácios, R.H.C., Bertoncini, J.P.S., Uliam, G.H.O. et al. Evaluation of mobile autonomous robot in trajectory optimization. Computing 105, 2725–2745 (2023). https://doi.org/10.1007/s00607-023-01205-6

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  • DOI: https://doi.org/10.1007/s00607-023-01205-6

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