Banca de DEFESA: RAFAEL BARRETO DE SANTANA LOPES

Uma banca de DEFESA de MESTRADO foi cadastrada pelo programa.
DISCENTE : RAFAEL BARRETO DE SANTANA LOPES
DATA : 13/08/2021
HORA: 14:00
LOCAL: sala virtual
TÍTULO:

Mobile Robot Motion Planning for a Sequence of Goals

PALAVRAS-CHAVES:

Robotics, Navigation, Path Planning

PÁGINAS: 100
GRANDE ÁREA: Engenharias
ÁREA: Engenharia Elétrica
RESUMO:

Efficient path planning considering a sequence of goals in a manufacturing scenario is still
challenging for nonholonomic robots. In this paper, we present an approach to improve the
efficiency of path planning considering a sequence of goals for robots of type differential
drive and skid-steer. Besides using a near-optimal sampling-based algorithm applied in
a map with real inflating obstacles, virtual obstacles are added to the map to help the
generation of smoother paths that lead the robot from the start pose to its goals poses
faster, with fewer mechanical efforts, and less power consumption.

MEMBROS DA BANCA:
Presidente - 1856678 - PAULO CESAR MACHADO DE ABREU FARIAS
Interno(a) - 1938914 - TIAGO TRINDADE RIBEIRO
Externo(a) à Instituição - EXUPERRY BARROS COSTA - UFJF