Banca de QUALIFICAÇÃO: DAVI HENRIQUE DOS SANTOS

Uma banca de QUALIFICAÇÃO de DOUTORADO foi cadastrada pelo programa.
DISCENTE : DAVI HENRIQUE DOS SANTOS
DATA : 30/11/2017
HORA: 15:00
LOCAL: Mini-Auditorio do PPgEEC
TÍTULO:

Simulated environment for performance evaluation of control systems for autonomous sailboats

PALAVRAS-CHAVES:

Mobile robotics, PID controllers, ROS, USV, ASV

PÁGINAS: 60
GRANDE ÁREA: Ciências Exatas e da Terra
ÁREA: Ciência da Computação
SUBÁREA: Metodologia e Técnicas da Computação
ESPECIALIDADE: Processamento Gráfico (Graphics)
RESUMO:

In this work we propose a methodology for performance estimation and comparison of control systems for autonomous sailboats. One of the biggest problems in mobile robotics research is the absence of standard tools and platforms for distribution/verification of implementations and results. Our approach consists of an framework for performance evaluation build with the middleware ROS and divided in three components: simulator, scenario and metrics. The simulator should be modular, easy to install and distribute and accurately represent the sailboat movement by modeling wind, waves and water currents. The scenario should represent situations that happen during sailboat missions such as keep the sailboat close to a desired waypoint (virtual anchoring), docking and tracking. Quantitative metrics should be extracted by simulated experiments in the scenario and should be used to evaluate characteristics expected from control systems such as stability, energy consumption, robustness and efficiency, resulting in an initial classification of the control system.

MEMBROS DA BANCA:
Presidente - 1345674 - LUIZ MARCOS GARCIA GONCALVES
Interno - 1242315 - PABLO JAVIER ALSINA
Externo à Instituição - ALEXANDRE DE MORAIS AMORY - PUC - RS
Externo à Instituição - JOAO MORENO VILAS BOAS DE SOUZA SILVA - IFRN