Desenvolvimento de uma aplicação ROS2 para robôs imóveis AMR: simulação e aplicação virtual

Abstract

This study explores the virtual development of an Autonomous Mobile Robot (AMR), based on the Robot Operating System 2 (ROS2), with the aim of validating this platform as a robust tool for modeling and controlling industrial robots. The simulation is carried out in an industrial forging environment, made up of various sectors that require autonomous handling of loads. Simulation plays a central role, allowing the verification and testing of the AMR model in virtual environments, where realistic simulation methods were employed to accurately replicate the conditions of the chosen forging sector, thus ensuring the effectiveness and reliability of the system. The development process was structured in stages, starting with the modeling of the AMR and its kinematics, followed by the development and adaptation of control algorithms and trajectory planning, finally integrating sensors into the system, providing information about the surrounding environment. The results proved to be accurate, confirming that the AMR is capable of moving from one point to another completely autonomously, without the need for interaction or manual control, and the robot was able to detect and dodge obstacles, creating an efficient route independently. Thus, this work contributes to the advancement of robotics, showing how ROS2 can be applied in the development of mobile robots and consolidating its role as a viable and efficient platform for applications in industrial environments. [resumo fornecido pelo autor]