Made available in DSpace on 2014-12-17T14:55:03Z (GMT). No. of bitstreams: 1 JoaoPAB.pdf: 1121359 bytes, checksum: 0140c2cdd16358b4d1f4ee69b79c5b3c (MD5) Previous issue date: 2006-05-19 / Large efforts have been maden by the scientific community on tasks involving locomotion of mobile robots. To execute this kind of task, we must develop to the robot the ability of navigation through the environment in a safe way, that is, without collisions with the objects. In order to perform this, it is necessary to implement strategies that makes possible to detect obstacles. In this work, we deal with this problem by proposing a system that is able to collect sensory information and to estimate the possibility for obstacles to occur in the mobile robot path. Stereo cameras positioned in parallel to each other in a structure coupled to the robot are employed as the main sensory device, making possible the generation of a disparity map. Code optimizations and a strategy for data reduction and abstraction are applied to the images, resulting in a substantial gain in the execution time. This makes possible to the high level decision processes to execute obstacle deviation in real time. This system can be employed in situations where the robot is remotely operated, as well as in situations where it depends only on itself to generate trajectories (the autonomous case) / Grandes esfor?os t?m sido despendidos pela comunidade cient?fica em tarefas de locomo??o de rob?s m?veis. Para a execu??o deste tipo de tarefa, devemos desenvolver no rob? a habilidade de navega??o no ambiente de forma segura, isto ?, sem que haja colis?es contra objetos. Para que isto seja realizado, faz-se necess?rio implementar estrat?gias que possibilitem a detec??o de obst?culos. Neste trabalho, abordamos este problema, propondo um sistema capaz de coletar informa??es sensoriais e estimar a possibilidade de ocorr?ncia de obst?culos no percurso de um rob? m?vel. C?meras est?reo, posicionadas paralelamente uma ? outra, numa estrutura acoplada ao rob?, s?o empregadas como o dispositivo sensorial principal, pos- sibilitando a gera??o de um mapa de disparidades. Otimiza??es de c?digo e uma estrat?gia de redu??o e abstra??o de dados s?o aplicadas ?s imagens, resultando num ganho substancial no tempo de execu??o. Isto torna poss?vel aos processos de decis?o de mais alto n?vel executar o desvio de obst?culos em tempo real. Este sistema pode ser empregado em situa??es onde o rob? seja tele-operado, bem como em situa??es onde ele dependa de si pr?prio para gerar trajet?rias (no caso aut?nomo)