Implementação de movimentos em um robô móvel físico com quatro rodas mecanum usando arduino e o simulink

Abstract

Robotics has rapidly expanded in recent decades, integrating into various fields such as industrial automation, accessibility, and entertainment. In recent years, advancements in robotics hardware and software have gained prominence, with increasingly precise sensors and actuators, the use of intelligent techniques for robot control, and rapid development tools. Specifically, mobile robotics utilizes a set of sensors and actuators to perform movement operations in specific environments, ensuring a certain degree of autonomy through a controller. This controller can be, for example, the Arduino microcontroller board, an open-source hardware platform that provides broad access to those interested in researching or working in embedded system automation. This study aims to implement movement in a physical omnidirectional mobile robot using the Arduino platform through Model-Based Development (MBD). To achieve this, the SIMULINK environment was employed, integrating modeling in the Mobile Robotics Simulation (MRS) with Arduino hardware. Initially, a model represented by blocks was generated in MRS, simulating the movements of a robot equipped with four Mecanum wheels. Subsequently, this model was adapted for direct communication with the Arduino board, allowing the execution of movements in the physical robot. Comparative tests were conducted between the simulation and the results obtained in the real world, analyzing the impact of modeling in the development of embedded systems. The analysis highlighted discrepancies between the simulated and physical results, emphasizing model limitations and proposing improvements for future implementations.