{"id":11482,"date":"2018-03-09T08:56:52","date_gmt":"2018-03-09T08:56:52","guid":{"rendered":"https:\/\/www.deberes.net\/tesis\/sin-categoria\/sistema-sensorial-para-control-y-localizacion-de-vehiculos-en-exteriores\/"},"modified":"2018-03-09T08:56:52","modified_gmt":"2018-03-09T08:56:52","slug":"sistema-sensorial-para-control-y-localizacion-de-vehiculos-en-exteriores","status":"publish","type":"post","link":"https:\/\/www.deberes.net\/tesis\/ciencias-tecnologicas\/sistema-sensorial-para-control-y-localizacion-de-vehiculos-en-exteriores\/","title":{"rendered":"Sistema sensorial para control y localizacion de vehiculos en exteriores"},"content":{"rendered":"<h2>Tesis doctoral de <strong> Ana Pozo Ruz <\/strong><\/h2>\n<p>Esta tesis se ocupa de la resolucion del problema de posicionamiento y localizaci\u00f3n de un vehiculo en un entorno natural. Tras una revision de los diferentes sistemas para el conocimiento de lo posici\u00f3n del vehiculo en cada momento, se presenta un sistema sensorial que, empleando un minimo numero de sensores complementarios y redundantes: un receptor gps diferencial como sistema de posicionamiento externo y un od\u00f3metro como sistema de posicionamiento interno, permita conocer la posicion del vehiculo de forma continua y en tiempo real guardando un equilibrio entre precision y precio del equipo.  para combinar la informacion que sobre la posici\u00f3n ofrecen los sensores a borde del robot, se ha formulado un modelo de fusi\u00f3n probabilistico que, partiendo de las estimaciones con incertidumbre proporcionada por el gps diferencial y por el od\u00f3metro, permite obtener la mejor estimaci\u00f3n de la magnitud medida y la incertidumbre asociada a esta mejor estimacion. Se consigue asi un posicionamiento continuo y preciso aun en ausencia de se\u00f1al gps. La tecnica de fusion sensorial que se propone en esta tesis distingue la naturaleza del error asociado a las medidas de los sensores: ruido blanco y coloreado o autocorrelacionado, y la existencia o no de correlacion entre las mismas.  se han validado experimentalmente con \u00e9xito los desarrollos presentados en el robot tractor rojo, un tractor comercial cuya automatizaci\u00f3n forma parte del trabajo desarrollo en esta tesis. Se demuestra la eficacia del m\u00e9todo de fusion sensorial propuesto aun empleando sensores de coste medio\/bajo y en situaciones en que la se\u00f1al gps, herramienta principal de posicion, no esta presente.<\/p>\n<p>&nbsp;<\/p>\n<h3>Datos acad\u00e9micos de la tesis doctoral \u00ab<strong>Sistema sensorial para control y localizacion de vehiculos en exteriores<\/strong>\u00ab<\/h3>\n<ul>\n<li><strong>T\u00edtulo de la tesis:<\/strong>\u00a0 Sistema sensorial para control y localizacion de vehiculos en exteriores <\/li>\n<li><strong>Autor:<\/strong>\u00a0 Ana Pozo Ruz <\/li>\n<li><strong>Universidad:<\/strong>\u00a0 M\u00e1laga<\/li>\n<li><strong>Fecha de lectura de la tesis:<\/strong>\u00a0 21\/06\/2001<\/li>\n<\/ul>\n<p>&nbsp;<\/p>\n<h3>Direcci\u00f3n y tribunal<\/h3>\n<ul>\n<li><strong>Director de la tesis<\/strong>\n<ul>\n<li>Francisco Sandoval Hernandez<\/li>\n<\/ul>\n<\/li>\n<li><strong>Tribunal<\/strong>\n<ul>\n<li>Presidente del tribunal: manuel Mazo quintas <\/li>\n<li>\u00e1ngela Ribeiro seijas (vocal)<\/li>\n<li>pelegrin Camacho lozano (vocal)<\/li>\n<li>Mar\u00eda  teresa Martin guerrero (vocal)<\/li>\n<\/ul>\n<\/li>\n<\/ul>\n<p>&nbsp;<\/p>\n","protected":false},"excerpt":{"rendered":"<p>Tesis doctoral de Ana Pozo Ruz Esta tesis se ocupa de la resolucion del problema de posicionamiento y localizaci\u00f3n de [&hellip;]<\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"site-sidebar-layout":"default","site-content-layout":"","ast-site-content-layout":"","site-content-style":"default","site-sidebar-style":"default","ast-global-header-display":"","ast-banner-title-visibility":"","ast-main-header-display":"","ast-hfb-above-header-display":"","ast-hfb-below-header-display":"","ast-hfb-mobile-header-display":"","site-post-title":"","ast-breadcrumbs-content":"","ast-featured-img":"","footer-sml-layout":"","theme-transparent-header-meta":"","adv-header-id-meta":"","stick-header-meta":"","header-above-stick-meta":"","header-main-stick-meta":"","header-below-stick-meta":"","astra-migrate-meta-layouts":"default","ast-page-background-enabled":"default","ast-page-background-meta":{"desktop":{"background-color":"var(--ast-global-color-4)","background-image":"","background-repeat":"repeat","background-position":"center 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