Um simulador robótico para inundações considerando distúrbios ambientais

Abstract

Extreme weather events cause most disasters around the world, and in Brazil, the main kind of such event are landslides and rains. Rescue Robots have become important allies of rescue teams to assist in carrying out tasks with a high degree of danger. However, the development of new robotic platforms capable of handling such unpredictable environments demands that the roboticist evaluate the robot platform under similar conditions of the real world. Considering that there are few test sites for disasters, robotic simulators for natural disasters present themselves as an essential tool to reduce research and development costs, avoiding equipment losses, and identifying defects and limitations in prototypes. In this sense, the present document proposes a robotic simulation environment for natural disasters that reproduces the environmental disturbances present in flooding scenarios. Thus, this thesis presents a protocol to reproduce real scenarios and their disturbances in the virtual environment, it also describes a protocol and experiments to validate the movement of virtual USVs. Finally, case studies demonstrate the impact of disturbances on the activities performed by the USVs.