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GUSTAVO ANDRÉ NUNES FERREIRA DESENVOLVIMENTO DE UMA ARQUITETURA DE CONTROLE BASEADA EM OBJETOS PARA UM ROBÔ MÓVEL AQUÁTICO Dissertação apresentada à Escola Politécnica da Universidade de São Paulo para obtenção do Título de Mestre em Engenharia. São Paulo 2003

GUSTAVO ANDRÉ NUNES FERREIRA - teses.usp.br...de inteligência artificial que orientaram a evolução dos robôs móveis autônomos até o presente momento e, em particular, as concepções

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Page 1: GUSTAVO ANDRÉ NUNES FERREIRA - teses.usp.br...de inteligência artificial que orientaram a evolução dos robôs móveis autônomos até o presente momento e, em particular, as concepções

GUSTAVO ANDRÉ NUNES FERREIRA

DESENVOLVIMENTO DE UMA ARQUITETURA DE CONTROLE BASEADA EM OBJETOS PARA UM ROBÔ

MÓVEL AQUÁTICO Dissertação apresentada à Escola Politécnica da Universidade de São Paulo para obtenção do Título de Mestre em Engenharia.

São Paulo 2003

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GUSTAVO ANDRÉ NUNES FERREIRA

DESENVOLVIMENTO DE UMA ARQUITETURA DE CONTROLE BASEADA EM OBJETOS PARA UM ROBÔ

MÓVEL AQUÁTICO Dissertação apresentada à Escola Politécnica da Universidade de São Paulo para obtenção do Título de Mestre em Engenharia. Área de Concentração: Engenharia Mecatrônica e Sistemas Mecânicos Orientador: Prof. Dr. Ettore Apolônio de Barros

São Paulo 2003

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FICHA CATALOGRÁFICA

Ferreira, Gustavo André Nunes

Desenvolvimento de uma arquitetura de controle baseada em objetos para um robô móvel aquático. São Paulo, 2003.

137 p. Dissertação (Mestrado) – Escola Politécnica da Universidade

de São Paulo. Departamento de Engenharia Mecatrônica e Sistemas Mecânicos.

1. Robôs 2. Softwares Orientado a Objeto 3. Sistemas de

Tempo Real I. Universidade de São Paulo. Escola Politécnica. Departamento de Engenharia Mecatrônica e Sistemas Mecânicos II. t.

Page 4: GUSTAVO ANDRÉ NUNES FERREIRA - teses.usp.br...de inteligência artificial que orientaram a evolução dos robôs móveis autônomos até o presente momento e, em particular, as concepções

A meus pais, que muito se esforçaram

por minha educação e a quem devo

muito das virtudes que possuo.

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Agradecimentos Agradeço inicialmente o financiamento da Fundação de Amparo à Pesquisa

do Estado de São Paulo (FAPESP), tanto através do projeto individual de mestrado

“Arquiteturas de Controle Aplicadas a Robôs Móveis Oceânicos” (proc. FAPESP

2000/01121-6), como através do projeto temático "Comportamento em Ondas de

Embarcações de Alto Desempenho" (proc. FAPESP 1997/13090-3), financiamento

sem o qual este projeto não seria possível.

Agradeço também a orientação do Prof. Dr. Ettore Apolônio de Barros,

juntamente com os demais professores que fazem parte do projeto temático já citado.

Agradeço a ajuda inestimável do amigo Flávio José Aguiar Soares, pela sua

supervisão na construção do modelo ITTC em fibra de vidro, juntamente com os

técnicos do Departamento de Engenharia Naval do Instituto de Pesquisas

Tecnológicas (IPT), pela sua cooperação nos diversos ensaios realizados no decorrer

de todo o projeto e pelo estímulo e amizade como colega de laboratório.

Agradeço aos estagiários Daniel Barbuto Rossato e Hélder Flores Silva pelo

trabalho realizado nas implementações eletrônicas deste projeto e ao estagiário

Cassius Resende Duarte pelos estudos iniciais com a unidade inercial e o

equipamento DGPS.

Agradeço a ajuda dos mestrandos Fábio Villas Boas e Fernanda de Sá

Teixeira nos ensaios de finalização deste projeto.

E, finalmente, agradeço aos meus familiares e em especial a meus pais pelo

amor, carinho e esforço que propiciou as condições necessárias para que eu realizasse

este trabalho.

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Resumo

Este trabalho trata do estudo de concepções de arquitetura do controle

aplicadas aos robôs móveis autônomos e da proposição de um delas à instrumentação

e controle em tempo real de um modelo de embarcação naval de alto desempenho.

Tal veículo remotamente operado foi desenvolvido como parte das atividades do

projeto temático "Comportamento em Ondas de Embarcações de Alto Desempenho"

(proc.Fapesp 1997/13090-3). Realizou-se uma investigação dos diversos paradigmas

de inteligência artificial que orientaram a evolução dos robôs móveis autônomos até

o presente momento e, em particular, as concepções baseadas em modelos sócio-

antropológicos e computacionais (teoria de agentes e orientação a objetos) através de

sua aplicação à implementação de um sistema de aquisição e controle orientado a

objetos, modelado através da UML (Unified Modeling Language), para o veículo

mencionado. Testes de validação da arquitetura do controle foram realizados, sendo

obtidos resultados experimentais que permitiram análises a respeito da dinâmica,

manobrabilidade e navegação do veículo, as quais sugerem vários aperfeiçoamentos

para o sistema de hardware e software em trabalhos futuros.

Page 7: GUSTAVO ANDRÉ NUNES FERREIRA - teses.usp.br...de inteligência artificial que orientaram a evolução dos robôs móveis autônomos até o presente momento e, em particular, as concepções

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.

Page 8: GUSTAVO ANDRÉ NUNES FERREIRA - teses.usp.br...de inteligência artificial que orientaram a evolução dos robôs móveis autônomos até o presente momento e, em particular, as concepções

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T.[1 + e−te

T − e−(te−t1)

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T ] = te − (t1 + t2)

T.[1 + e−(t′e−t2)

T − e−(t′e−t2−2.t1)

T − e−(t′e−t4)

T ] = t′e − (t1 + t4)���+8K�

T.[1 + e−(t′′e −t4)

T − e−(t′′e −t4−2.t1)

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1

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1

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1

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