Ambiente de simulação para micromouse

Abstract

Mobile robotics is a field of research and development that has been on the rise in recent decades. One way to promote mobile robotics is through robotics competitions. For an autonomous robot to achieve its objectives with precision, a range of tests is necessary. Therefore, the implementation of a simulation becomes attractive to aid in the development and validation of mobile robots. Hardware-in-the-loop simulation is a method that uses physical hardware to make decisions within a simulation and can be implemented through a game engine such as Unity. Thus, this thesis proposes to implement a hardware-in-the-loop simulation using the Unity engine with the physical aspects of the components used in micromice. The goal was to create a responsive virtual environment with real parameters. The results were positive regarding the modeled components and the ability to modify the simulation environment, but there were issues related to the algorithm used in the tests.