AtmosBot: Proposta de Modelagem simulada para robô autônomo móvel doméstico

Abstract

Domestic service robots are increasingly present and can play a relevant role in helping people carry out daily household tasks on a number of occasions. They are beneficial for people with some degree of motor limitation, work overload, single-parent families, or even as a perk. However, the entire process of designing, developing and validating a domestic service robot consumes excessive resources and time. These costs are contrary to the theories of time-to-market and the iron triangle that define the current market and innovation dynamic. In order to overcome this problem, this work proposes modularizing the development of a domestic service robot, implementing independent functionalities with the most relevant and appropriate technologies. Thus, in order to initiate this modularization and analyze its consequences, a simulated robot was modeled with the ability to independently perform the essential functionality of a domestic service robot: the autonomous navigation. The SLAM approach was used in combination with the LiDaR sensor to map, locate and, consequently, navigate in an unknown simulated home environment. In order to validate the model developed, a series of tests were carried out according to the scenarios established in a set of test cases prepared for this work. In addition, a comparative analysis was carried out between related work and the results obtained with AtmosBot. Finally, this validation identified that the proposed model presents the expected behavior for an autonomous mobile domestic robot, using technologies that are relevant to the context in which it is inserted, as well as being suitable for reducing resources and time spent on its development.