{"id":17041,"date":"2018-03-09T09:04:55","date_gmt":"2018-03-09T09:04:55","guid":{"rendered":"https:\/\/www.deberes.net\/tesis\/sin-categoria\/construccion-de-un-mapa-topo-geometrico-del-entorno-y-localizacion-de-manera-simultanea\/"},"modified":"2018-03-09T09:04:55","modified_gmt":"2018-03-09T09:04:55","slug":"construccion-de-un-mapa-topo-geometrico-del-entorno-y-localizacion-de-manera-simultanea","status":"publish","type":"post","link":"https:\/\/www.deberes.net\/tesis\/ciencias-tecnologicas\/construccion-de-un-mapa-topo-geometrico-del-entorno-y-localizacion-de-manera-simultanea\/","title":{"rendered":"Construcci\u00f3n de un mapa topo-geom\u00e9trico del entorno y localizaci\u00f3n de manera simult\u00e1nea"},"content":{"rendered":"<h2>Tesis doctoral de <strong> Beatriz Lopez Boada <\/strong><\/h2>\n<p>Se trata de resolver el problema de generaci\u00f3n de un mapa del entorno de un robot que se desplaza, debido a los errores de odometr\u00eda, que se incrementan a medida que el robot se desplaza y que hace necesario llevar a cabo un proceso de localizaci\u00f3n que permita estimar la posici\u00f3n del robot en relaci\u00f3n con elementos conocidos. A este problema de localizaci\u00f3n se le denomina slam. El m\u00e9todo propuesto permite generar un mapa del entorno mientras que el robot se desplaza, al mismo tiempo que se localiza utilizando las caracter\u00edsticas del mapa. El robot, en cada desplazamiento, adquiere informaci\u00f3n del entorno a trav\u00e9s de un tel\u00e9metro laser y almacena la informaci\u00f3n odeom\u00e9tria. El entorno es modelado como un grafo, donde los nodos representan lugares t\u00edpicos de entornos de interiores estructurados y los arcos representan el camino que une estos nodos. El mapa que se genera es un mapa topo-geom\u00e9trico que se genera a partir de un dvl (diagrama de vornoi local). El algoritmo slam que se presenta en esta tesis alterna dos pasos: un paso de localizaci\u00f3n y un paso de generaci\u00f3n del mapa. El algortimo de localizaci\u00f3n alterna dos pasos: un paso hacia delante y un paso hacia atr\u00e1s la ventaja de este mapa topogeom\u00e9trico es que puede ser utilizado para desarrollar varias tareas como son: navegaci\u00f3n, planificaci\u00f3n y localizaci\u00f3n. Los resultados experimentales, llevados a cabo en entornos interiores de grandes dimensiones con ciclos, muestran la robustez y eficacia del algoritmo desarrollado para resolver el problema slam.<\/p>\n<p>&nbsp;<\/p>\n<h3>Datos acad\u00e9micos de la tesis doctoral \u00ab<strong>Construcci\u00f3n de un mapa topo-geom\u00e9trico del entorno y localizaci\u00f3n de manera simult\u00e1nea<\/strong>\u00ab<\/h3>\n<ul>\n<li><strong>T\u00edtulo de la tesis:<\/strong>\u00a0 Construcci\u00f3n de un mapa topo-geom\u00e9trico del entorno y localizaci\u00f3n de manera simult\u00e1nea <\/li>\n<li><strong>Autor:<\/strong>\u00a0 Beatriz Lopez Boada <\/li>\n<li><strong>Universidad:<\/strong>\u00a0 Carlos III de Madrid<\/li>\n<li><strong>Fecha de lectura de la tesis:<\/strong>\u00a0 24\/05\/2002<\/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 Moreno Lorente<\/li>\n<\/ul>\n<\/li>\n<li><strong>Tribunal<\/strong>\n<ul>\n<li>Presidente del tribunal: Carlos Balaguer bernaldo de quir\u00f3s <\/li>\n<li>Luis Montano gella (vocal)<\/li>\n<li>Juan Lopez coronado (vocal)<\/li>\n<li>Fernando Mat\u00eda espada (vocal)<\/li>\n<\/ul>\n<\/li>\n<\/ul>\n<p>&nbsp;<\/p>\n","protected":false},"excerpt":{"rendered":"<p>Tesis doctoral de Beatriz Lopez Boada Se trata de resolver el problema de generaci\u00f3n de un mapa del entorno 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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