{"id":11531,"date":"2018-03-09T08:56:56","date_gmt":"2018-03-09T08:56:56","guid":{"rendered":"https:\/\/www.deberes.net\/tesis\/sin-categoria\/navegacion-de-robots-moviles-mediante-escaner-laser-radial\/"},"modified":"2018-03-09T08:56:56","modified_gmt":"2018-03-09T08:56:56","slug":"navegacion-de-robots-moviles-mediante-escaner-laser-radial","status":"publish","type":"post","link":"https:\/\/www.deberes.net\/tesis\/matematicas\/navegacion-de-robots-moviles-mediante-escaner-laser-radial\/","title":{"rendered":"Navegacion de robots moviles mediante escaner laser radial"},"content":{"rendered":"<h2>Tesis doctoral de <strong>  Reina Terol Antonio  Jose <\/strong><\/h2>\n<p>En esta tesis se abordan dos de los problemas claves para la realizacion de tareas de navegacion autonoma en robots moviles, como son la localizacion del vehiculo y la construccion autom\u00e1tica de mapas del entorno; todo ello a partir de los datos suministrados por un escaner laser radial montado sobre el propio robot movil, y seg\u00fan una estrategia que permite aprovechar los resultados de la localizacion en la actualizacion del mapa y viceversa.  primero se ha obtenido un preciso modelo del sensor real como resultado de un exhaustivo proceso de calibracion, el cual ha permitido, aparte de su simulaci\u00f3n, corregir aspectos no lineales de su comportamiento.  la estrategia desarrollada para la estimaci\u00f3n de la localizacion del vehiculo presenta la particularidad de desacoplar los calculos de posisicon y orientacion mediante dos etapas, consistentes en el alineamiento y posterior superposici\u00f3n de mapas de segmentos. Este algoritmo posee una elevada precisi\u00f3n y robustez, incluso partiendo de localizaciones odom\u00e9tricas altamente inexactas, permitiendo, adem\u00e1s, la localizaci\u00f3n del vehiculo en movimiento. Asimismo, este trabajo contribuye con un novedoso enfoque experimental para el calculo de la incertidumbre asociada a los estimaciones realizadas mediante sensores laser, donde se consideran las caracteristicas particulares del entorno observad como componente fundamental a la hora de establecer el grado de confianza en estas estimaciones.  como parte de los trabajos realizados en esta tesis, todos y cada uno de los metodos presentados han sido extensamente probados e integrados en el robot movil ram-2.<\/p>\n<p>&nbsp;<\/p>\n<h3>Datos acad\u00e9micos de la tesis doctoral \u00ab<strong>Navegacion de robots moviles mediante escaner laser radial<\/strong>\u00ab<\/h3>\n<ul>\n<li><strong>T\u00edtulo de la tesis:<\/strong>\u00a0 Navegacion de robots moviles mediante escaner laser radial <\/li>\n<li><strong>Autor:<\/strong>\u00a0  Reina Terol Antonio  Jose <\/li>\n<li><strong>Universidad:<\/strong>\u00a0 M\u00e1laga<\/li>\n<li><strong>Fecha de lectura de la tesis:<\/strong>\u00a0 22\/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>Antonio  Javier Gonzalez  Jimenez<\/li>\n<\/ul>\n<\/li>\n<li><strong>Tribunal<\/strong>\n<ul>\n<li>Presidente del tribunal: alfonso jose Garcia cerezo <\/li>\n<li>Francisco Rodriguez rubio (vocal)<\/li>\n<li>Carlos Balaguer bernaldo de quir\u00f3s (vocal)<\/li>\n<li> Castellanos gomez Jos\u00e9 angel (vocal)<\/li>\n<\/ul>\n<\/li>\n<\/ul>\n<p>&nbsp;<\/p>\n","protected":false},"excerpt":{"rendered":"<p>Tesis doctoral de Reina Terol Antonio Jose En esta tesis se abordan dos de los problemas claves para la realizacion [&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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