Projeto BIRHex: plataforma robótica autônoma para inspeção de ambientes que segue a morfologia Rhex

Abstract

In consequence of the increase in environmental disasters in Brazil, emphasized by Marianaand Brumadinho, was questioned about the use of autonomous robotic systems in thisproblem and also in the challenge of designing and developing a mobile robot autonomouswith the ability to move over rough terrain. Therefore, this work aims to studies of existingplatforms, build codes and packages of perception and navigation, in addition to creatingelectrical schemes and mechanical drawings. The used methodology separates the projectinto six stages: Survey of Requirements, Concept Creation, Functionalities, Modeling,Simulation, and Development. Each step of this methodology creates new materials forthe next ones, due to this, the development of the project evolves. In the end, theresults obtained are presented with the simulation of the Gazebo integrated with ROS,the schematics, and models of the robot.