Atualização de um robô lutador de sumô autônomo de 3kg

Abstract

The present work aimed to update the Omega Robot, an autonomous 3 kg sumo robot from the Patobots team. The original project presented hardware limitations, using a microcontroller with low processing capacity and employing a basic control logic. These constraints hindered the expansion of combat strategies and compromised the reliability of the system. In order to overcome these limitations, the control system was modernized based on Supervisory Control Theory (SCT) of Discrete Event Systems (DES), a formal approach that enables systematic modeling, analysis, and enforcement of the desired robot behavior. In addition, the hardware was upgraded through the replacement of the previous microcontroller with an STM32F407VET6, the complete redesign of the control board, and the redistribution of sensors to meet new processing and I/O requirements. During development, plant and specification models were created, from which a supervisor with 2,848 states and 27,416 transitions was synthesized. To enable its execution on the microcontroller, an automatic C code generation tool was developed to convert the supervisor modeled in Supremica, a software tool for analysis and simulation of Discrete Event Systems, into embedded code. The resulting system occupied 352 KB of Flash memory on the STM32, demonstrating the practical feasibility of the implementation. The robot was tested in a competition environment, validating the control logic and the operation of the embedded supervisory system. However, its competitive performance was limited by the motor power, which was lower than that of other competitors, reducing its combat performance. Despite this, the project achieved its main objective, demonstrating the applicability of Supervisory Control Theory to a real robotic system and establishing a solid foundation for future improvements in mechanical performance and autonomous strategies.