Sistema de navegação para robôs móveis autônomos

The main task and one of the major mobile robotics problems is its navigation process. Conceptualy, this process means drive the robot from an initial position and orientation to a goal position and orientation, along an admissible path respecting the temporal and velocity constraints. This task must be accomplished by some subtasks like robot localization in the workspace, admissible path planning, trajectory generation and motion control. Moreover, autonomous wheeled mobile robots have kinematics constraints, also called nonholonomic constraints, that impose the robot can not move everywhere freely in its workspace, reducing the number of feasible paths between two distinct positions. This work mainly approaches the path planning and trajectory generation problems applied to wheeled mobile robots acting on a robot soccer environment. The major dificulty in this process is to find a smooth function that respects the imposed robot kinematic constraints. This work proposes a path generation strategy based on parametric polynomials of third degree for the 'x' and 'y' axis. The 'theta' orientation is derived from the 'y' and 'x' relations in such a way that the generated path respects the kinematic constraint. To execute the trajectory, this work also shows a simple control strategy acting on the robot linear and angular velocities

Simulação das temperaturas diárias na cidade de Natal-rn

Information retrieval is of paramount importance in all areas of knowledge. Regarding the temperatures of Natal, they were simulated and analyzed. Thus, it was possible to recover, with some accuracy, the temperatures of days they were not collected. For this we constructed a software that displays the temperature value at each moment in the city. The program was developed in Delphi using interpolated polynomial function of third degree. The equations were obtained in Excel and data were collected at the Instituto Nacional de Pesquisas Espaciais (INPE). These functions were changed from a correction factor in order to provide values to temperatures between those who were not collected. Armed with this program you can build tables and charts to analyze the temperatures for certain periods of time. The same analysis was done by developing mathematical functions that describes the temperatures. With the data provided by this software is possible to say which are the hours of highest and lowest temperatures in the city, as the months have indexes with the highest and lowest temperatures.