{"id":14418,"date":"2001-12-12T00:00:00","date_gmt":"2001-12-12T00:00:00","guid":{"rendered":"https:\/\/www.deberes.net\/tesis\/sin-categoria\/navegacion-de-robots-moviles-en-entornos-interiores-basada-en-el-reconocimiento-de-caractera%c2%adsticas-relevantes\/"},"modified":"2001-12-12T00:00:00","modified_gmt":"2001-12-12T00:00:00","slug":"navegacion-de-robots-moviles-en-entornos-interiores-basada-en-el-reconocimiento-de-caractera%c2%adsticas-relevantes","status":"publish","type":"post","link":"https:\/\/www.deberes.net\/tesis\/matematicas\/navegacion-de-robots-moviles-en-entornos-interiores-basada-en-el-reconocimiento-de-caractera%c2%adsticas-relevantes\/","title":{"rendered":"Navegaci\u00f3n de robots m\u00f3viles en entornos interiores basada en el reconocimiento de caracter\u00edsticas relevantes"},"content":{"rendered":"<h2>Tesis doctoral de <strong> Jos\u00e9 Ramon Asensio Diago <\/strong><\/h2>\n<p>La tesis abarca los siguientes aspectos concernientes a la navegaci\u00f3n de robots m\u00f3viles en entornos de interior sin estructurar:  1,- modelado de robots m\u00f3viles de tracci\u00f3n diferencial, en el que se desarrolla un modelo simple basado en par\u00e1metros f\u00edsicos para ese tipo de robots m\u00f3viles, as\u00ed como se propone la utilizaci\u00f3n de dicho modelo como controlador del sistema.  2,- navegaci\u00f3n reactiva basada en campos de potencial artificial, en el que se desarrolla una variante de los campos de potencial artificial aplicada a la navegaci\u00f3n, y basada en el modelo anteriormente citado (utilizando un sensor de proximetr\u00eda l\u00e1ser).  3,- reconocimiento de caracter\u00edsticas de alto nivel de entornos de interior sin estructurar, en el que dichas caracter\u00edsticas son detectadas con un sistema de visi\u00f3n artificial trinocular mediante un m\u00e9todo que tiene en cuenta la incertidumbre geom\u00e9trica de las caracter\u00edsticas b\u00e1sicas (segementos 3d).  4,- navegaci\u00f3n basada en fusi\u00f3n de informaci\u00f3n multisensorial, en el que se utiliza el sistema de visi\u00f3n antes citado para detectar la caracter\u00edstica relevante del entorno a partir de la cual ubicar el punto gu\u00eda inicial para la navegaci\u00f3n, a la vez que se usa un sensor de proximetr\u00eda l\u00e1ser para la navegaci\u00f3n reactiva y la re-estimaci\u00f3n peri\u00f3dica de la localizaci\u00f3n relativa respecto al robot de dicha caracter\u00edstica (lo cual mejora notablemente la ejecuci\u00f3n de la tarea de navegaci\u00f3n).  5,- integraci\u00f3n de navegaci\u00f3n, reconocimiento de caracter\u00edsticas, y autolocalizaci\u00f3n con construcci\u00f3n simult\u00e1nea del mapa del entorno, en el que desarrolla un planificador que es capaz de ejecutar tareas de navegaci\u00f3n expresadas con un alto nivel de abstracci\u00f3n, a la que se genera un mapa del entorno conforme \u00e9ste va siendo detectado por los sensores de visi\u00f3n y l\u00e1ser, permitiendo dicho mapa estimar de forma precisa la localizaci\u00f3n del robot en el entorno.<\/p>\n<p>&nbsp;<\/p>\n<h3>Datos acad\u00e9micos de la tesis doctoral \u00ab<strong>Navegaci\u00f3n de robots m\u00f3viles en entornos interiores basada en el reconocimiento de caracter\u00edsticas relevantes<\/strong>\u00ab<\/h3>\n<ul>\n<li><strong>T\u00edtulo de la tesis:<\/strong>\u00a0 Navegaci\u00f3n de robots m\u00f3viles en entornos interiores basada en el reconocimiento de caracter\u00edsticas relevantes <\/li>\n<li><strong>Autor:<\/strong>\u00a0 Jos\u00e9 Ramon Asensio Diago <\/li>\n<li><strong>Universidad:<\/strong>\u00a0 Zaragoza<\/li>\n<li><strong>Fecha de lectura de la tesis:<\/strong>\u00a0 12\/12\/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>Luis Montano Gella<\/li>\n<\/ul>\n<\/li>\n<li><strong>Tribunal<\/strong>\n<ul>\n<li>Presidente del tribunal: manuel Silva su\u00e1rez <\/li>\n<li>Javier Gonzalez jimenez (vocal)<\/li>\n<li>Carlos Balaguer bernaldo de quir\u00f3s (vocal)<\/li>\n<li>ra\u00fal Su\u00e1rez feijoo (vocal)<\/li>\n<\/ul>\n<\/li>\n<\/ul>\n<p>&nbsp;<\/p>\n","protected":false},"excerpt":{"rendered":"<p>Tesis doctoral de Jos\u00e9 Ramon Asensio Diago La tesis abarca los siguientes aspectos concernientes a la navegaci\u00f3n de robots m\u00f3viles [&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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