{"id":143290,"date":"1993-01-01T00:00:00","date_gmt":"1993-01-01T00:00:00","guid":{"rendered":"https:\/\/www.deberes.net\/tesis\/sin-categoria\/estimacion-de-la-posicion-y-construccion-de-mapas-para-un-robot-movil-equipado-con-un-escaner-laser-radial\/"},"modified":"1993-01-01T00:00:00","modified_gmt":"1993-01-01T00:00:00","slug":"estimacion-de-la-posicion-y-construccion-de-mapas-para-un-robot-movil-equipado-con-un-escaner-laser-radial","status":"publish","type":"post","link":"https:\/\/www.deberes.net\/tesis\/matematicas\/estimacion-de-la-posicion-y-construccion-de-mapas-para-un-robot-movil-equipado-con-un-escaner-laser-radial\/","title":{"rendered":"Estimacion de la posicion y construccion de mapas para un robot movil equipado con un escaner laser radial."},"content":{"rendered":"<h2>Tesis doctoral de <strong> Antonio  Javier Gonzalez  Jimenez <\/strong><\/h2>\n<p>En esta tesis se abordan dos de los problemas claves para que un robot movil pueda operar y desenvolverse de forma autonoma: la estimacion de la posicion y orientacion del vehiculo, y la construccion de un mapa del entorno. Para llevar a cabo ambos cometidos se considera que el robot va equipado con un escaner laser, el cual suministra distancias a los objetos del entorno en un plano horizontal paralelo al suelo. El algoritmo de estimacion de la posicion propuesto esta basado en el emparejamiento directo de los puntos rastreados por el escaner con un mapa de segmentos del entorno. El sistema de construccion del mapa presentado permite, conforme el robot navega, obtener una representacion del entorno (incluso para entornos no-estructurados) en base a una sucesion de segmentos que aproximan poligonalmente la forma de este.  los algoritmos desarrollados para uno y otro cometido, han sido ampliamente contrastados y probados con datos reales, demostrando una elevada precision, eficiencia y robustez.<\/p>\n<p>&nbsp;<\/p>\n<h3>Datos acad\u00e9micos de la tesis doctoral \u00ab<strong>Estimacion de la posicion y construccion de mapas para un robot movil equipado con un escaner laser radial.<\/strong>\u00ab<\/h3>\n<ul>\n<li><strong>T\u00edtulo de la tesis:<\/strong>\u00a0 Estimacion de la posicion y construccion de mapas para un robot movil equipado con un escaner laser radial. <\/li>\n<li><strong>Autor:<\/strong>\u00a0 Antonio  Javier Gonzalez  Jimenez <\/li>\n<li><strong>Universidad:<\/strong>\u00a0 M\u00e1laga<\/li>\n<li><strong>Fecha de lectura de la tesis:<\/strong>\u00a0 01\/01\/1993<\/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>Anibal Ollero Baturone<\/li>\n<\/ul>\n<\/li>\n<li><strong>Tribunal<\/strong>\n<ul>\n<li>Presidente del tribunal: Rafael Aracil Santonja <\/li>\n<li>Luis Montano Gella (vocal)<\/li>\n<li>Miguel \u00e1ngel Salichs S\u00e1nchez-caballero (vocal)<\/li>\n<li>  (vocal)<\/li>\n<\/ul>\n<\/li>\n<\/ul>\n<p>&nbsp;<\/p>\n","protected":false},"excerpt":{"rendered":"<p>Tesis doctoral de Antonio Javier Gonzalez Jimenez En esta tesis se abordan dos de los problemas claves para que un [&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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