Development and Simulation on V-REP of an Algorithm for the RoboCup@Work BNT

Recently the RoboCup@Work league emerged in the world's largest robotics competition, intended for competitors wishing to compete in the field of mobile robotics for manipulation tasks in industrial environments. This competition consists of several tasks with one reflected in this work (Basic Navigation Test). This project involves the simulation in Virtual Robot Experimentation Platform (V-REP) of the behavior of a KUKA youBot. The goal is to verify that the robots can navigate in their environment, in a standalone mode, in a robust and secure way. To achieve the proposed objectives, it was necessary to create a program in Lua and test it in simulation. This involved the study of robot kinematics and mechanics, Simultaneous Localization And Mapping (SLAM) and perception from sensors. In this work is introduced an algorithm developed for a KUKA youBot platform to perform the SLAM while reaching for the goal position, which works according to the requirements of this competition BNT. This algorithm also minimizes the errors in the built map and in the path travelled by the robot.