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| Author(s): |
Gustavo André Nunes Ferreira
Total Authors: 1
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| Document type: | Master's Dissertation |
| Press: | São Paulo. , gráficos, ilustrações, tabelas. |
| Institution: | Universidade de São Paulo (USP). Escola Politécnica (EP/BC) |
| Defense date: | 2003-05-28 |
| Examining board members: |
Ettore Apolonio de Barros;
Newton Maruyama;
Selma Shin Shimizu Melnikoff
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| Advisor: | Ettore Apolonio de Barros |
| Field of knowledge: | Engineering - Naval and Oceanic Engineering |
| Indexed in: | Banco de Dados Bibliográficos da USP-DEDALUS; Biblioteca Digital de Teses e Dissertações - USP |
| Location: | Universidade de São Paulo. Biblioteca Central da Escola Politécnica; FD-3416 |
| Abstract | |
This work deals with the study of control architecture approaches applied to autonomous mobile robots, and proposes one of them for the control system of a self-propelled high speed ship model. Such unmanned vehicle was developed for the research project Comportamento em Ondas de Embarcações de Alto Desempenho" (proc. FAPESP 1997/13090-3). A number of artificial intelligence paradigms, related to the autonomous robot evolution up to now, were investigated. Models based on the socio-anthropological paradigm and the corresponding computer science approaches, i.e. agent theory and object-oriented modeling, were emphasized. Object-oriented control software based on the UML (Unified Modeling Language) was designed for the real-time embedded system of the ship model. Validation tests of the control architecture were carried out. Experimental results, related to vehicle dynamics, maneuverability and navigation were acquired by the embedded system and analyzed in this work. These results suggest a number of improvements for future works on the software and hardware systems. (AU) | |