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Neste trabalho desenvolve-se um sistema de navegação autónoma de um
barco. No projeto do sistema de navegação são utilizadas metodologias de
controlo para corrigir o ângulo de direção e a velocidade do barco para os valores
desejados de maneira a percorrer uma trajetória programada. Constrói-se,
também, um telecomando para o utilizador interagir com o barco.
Para projetar o controlador deduz-se um modelo representativo da física
do barco e a partir dos modelos e controladores simula-se o comportamento dos
sistemas de navegação autónomos. O barco autónomo ao percorrer a trajetória
está constantemente a fazer a leitura do sensor de Global Positioning System
(GPS) e verifica se já chegou ao local de destino, observando se a distância
entre os pontos GPS é menor que uma margem pré-definida. E quando chegar
ao ponto de referência passa para o próximo local, percorrendo a trajetória de
referência.
Através destas metodologias, amostraram-se os parâmetros relevantes
ao modelo, construindo um programa de simulação no MATLAB/SIMULINK e
desenvolveu-se o circuito do barco e telecomando, utilizando microcontroladores
para o processamento, sensores para amostragem de dados, rádios para
comunicação, driver de motor para acionar o motor e periféricos de entrada para
interagir com o utilizador.
Os resultados evidenciam que o sistema de navegação funciona, com um
desvio inferior a 1 metro; o modelo físico deduzido é valido, apresentando
resultados em concordância com a análise teórica e simulação. A utilização
destes circuitos e código constituem uma solução válida para um sistema de
navegação autónomo de um barco.
This work describes the development of an autonomous boat navigation system. The navigation system design uses control methodologies, to correct the boat's steering angle and speed to the desired values, in order to follow a programmed trajectory. A remote control is also built for the user to interact with the boat. To design the controller, a representative model of the boat's physics is deduced, and from these models and controllers, the behavior of autonomous navigation systems is simulated. As the autonomous boat travels along its trajectory, it constantly reads data from the Global Positioning System (GPS) sensor and checks if it has reached its destination, observing whether the distance between GPS points is less than a predefined margin. When it reaches a reference point, it moves on to the next location, following the reference trajectory. Through these methodologies, the parameters relevant to the model were sampled, a simulation program was built in MATLAB/SIMULINK, and the boat and remote control circuit was developed, using microcontrollers for processing, sensors for data sampling, radios for communication, a motor driver to activate the motor, and input peripherals to interact with the user. The results show that the navigation system works, with a deviation of less than 1 meter; the deduced physical model is valid, presenting results in agreement with the theoretical analysis and simulation. The use of these circuits and code constitutes a valid solution for an autonomous boat navigation system.
This work describes the development of an autonomous boat navigation system. The navigation system design uses control methodologies, to correct the boat's steering angle and speed to the desired values, in order to follow a programmed trajectory. A remote control is also built for the user to interact with the boat. To design the controller, a representative model of the boat's physics is deduced, and from these models and controllers, the behavior of autonomous navigation systems is simulated. As the autonomous boat travels along its trajectory, it constantly reads data from the Global Positioning System (GPS) sensor and checks if it has reached its destination, observing whether the distance between GPS points is less than a predefined margin. When it reaches a reference point, it moves on to the next location, following the reference trajectory. Through these methodologies, the parameters relevant to the model were sampled, a simulation program was built in MATLAB/SIMULINK, and the boat and remote control circuit was developed, using microcontrollers for processing, sensors for data sampling, radios for communication, a motor driver to activate the motor, and input peripherals to interact with the user. The results show that the navigation system works, with a deviation of less than 1 meter; the deduced physical model is valid, presenting results in agreement with the theoretical analysis and simulation. The use of these circuits and code constitutes a valid solution for an autonomous boat navigation system.
Descrição
Palavras-chave
Barco autónomo Sistema de navegação marítima Modelo físico do barco Telecomando Trajetória com GPS Controlo de direção Autonomous surface vehicle Maritime navigation system Boat physical model Remote control GPS trajectory Direction control system Engenharia Eletrotécnica - Telecomunicações . Faculdade de Ciências Exatas e da Engenharia