| Resumo: | The development of algorithms oriented to robotic systems, in simulation environments, supports the identification and prediction of many problems before their tests in real environments. However, there is still not a process to ensure that an algorithm evaluated in a simulation platform will similarly work when migrated to real robots. The interference of several factors, such as engine and sensors properties, as well as the lack of a methodology that supports the interaction simulation/reality is considered as one of the main problems in this transition, so that there is a large conceptual development gap between real and simulated environments. This work aims to contribute with the formalization of a conceptual model to assist in the transition process, in which it is possible to highlight the peculiarities that require further attention from developers.. For that end, as a case study, it was developed an anti-collision algorithm, which involves several characteristics of a robotic system. Its implementation was carried out in both Unity3D simulator and real robots developed in the Arduino platform. The results were obtained and compared by a quantitative analysis of graphs using MATLAB. All necessary changes were classified and evaluated, raising up an initial idea of the transition model, which formalizes the main particulars of the project
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