Ciência da Computação
URI permanente desta comunidadehttps://repositorio.fei.edu.br/handle/FEI/342
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2 resultados
Resultados da Pesquisa
- Dynamic Power Management on a Mobile Robot(2021-12-03) De Carvalho Techi R.; Plinio Thomaz Aquino Junior© 2021 IEEE.Mobile robots must operate autonomously for sev-eral hours without interruption in battery charging. Energy optimization systems and methods are essential for the applicability of this technology. Dynamic Power Management (DPM) has the objective to reduce a system's total energy demand, through idleness exploitation. If the equipment is not in use, its energy dissipation should be as low as possible. This work presents the existing DPM methods analysis, systems requirements to make it eligible for the DPM, and also the management applicability analysis on a mobile robot.
- Evaluation of ROS Navigation Stack for Social Navigation in Simulated Environments(2021-08-05) PIMENTEL, F. A. M.; Plinio Thomaz Aquino Junior© 2021, The Author(s), under exclusive licence to Springer Nature B.V.Accuracy and safety are necessary characteristics in social navigation. These characteristics still constitute a challenge in this area. Yet, human comfort is the main goal in interactions involving human beings. The ROS Navigation Stack (RNS) allows the variation of local path planning methods. This paper consists in a comparative study of methods related to social navigation. This study promotes better social navigation on Home Environment Robot Assistant (HERA). This is a robot platform developed by FEI University Center. This work evaluated various parameter combinations: type of environments, types of obstacles, local and global planning algorithms and costmaps. The work also evaluated people in static, dynamic and interacting ways. This study observed aspects of safety, accuracy of estimated time and space. Other aspects observed are the smooth trajectory realized and respect for personal space. The experiments performed 1000 attempts for 37 combinations of methods, environments and sensors. In total, the experiments counted 37000 attempts. With these experiments, was possible to select a configuration for the navigation system. The point to the Timed Elastic Band (TEB) as a local planner and a proxemic costmap as a good combination. The results reach 97.6% of success in a more complex environment with this combination.