{"id":17168,"date":"2018-03-09T09:05:07","date_gmt":"2018-03-09T09:05:07","guid":{"rendered":"https:\/\/www.deberes.net\/tesis\/sin-categoria\/planificacion-de-caminos-con-incertidumbre-para-robots-moviles\/"},"modified":"2018-03-09T09:05:07","modified_gmt":"2018-03-09T09:05:07","slug":"planificacion-de-caminos-con-incertidumbre-para-robots-moviles","status":"publish","type":"post","link":"https:\/\/www.deberes.net\/tesis\/ciencias-tecnologicas\/planificacion-de-caminos-con-incertidumbre-para-robots-moviles\/","title":{"rendered":"Planificaci\u00f3n de caminos con incertidumbre para robots m\u00f3viles"},"content":{"rendered":"<h2>Tesis doctoral de <strong> Eladio Dapena Gonz\u00e1lez <\/strong><\/h2>\n<p>El principal objetivo de este trabajo es la construcci\u00f3n y prueba de un planificador de caminos fuera de l\u00ednea, factibles y robustos. Por factibles entendemos caminos realizables en cuanto al seguimiento. Por robustos proponemos que los caminos incluyan: un an\u00e1lisis preciso de incertidumbre y una estimaci\u00f3n de su probabilidad de \u00e9xito. Para representar el entorno se define un modelo topo-geom\u00e9trico ampliado mtga. El mtga, es un grafo cuya principal novedad es la incorporaci\u00f3n de zonas consideradas de tr\u00e1nsito restringido y zonas de aproximaci\u00f3n. En la definici\u00f3n de la incertidumbre, asumimos que el vector posici\u00f3n x del robot, sigue una distribuci\u00f3n normal multi-variable. donde se utilizan las coordenadas (x,y), que definen la posici\u00f3n del robot respecto a un sistema de coordenadas global. Para las reducciones de incertidumbre en zonas donde el robot puede efectuar una localizaci\u00f3n, se proponen inicialmente dos m\u00e9todos: lineal y directo. Estos m\u00e9todos, que denominamos est\u00e1ticos, intentan desligar el proceso de planificaci\u00f3n, del sistema de percepci\u00f3n del robot.  adem\u00e1s, se propone como un m\u00e9todo din\u00e1mico la utilizaci\u00f3n de un filtro de kalman extendido, con sistema de percepci\u00f3n basado en sensores de ultrasonidos. se define la transitabilidad como la probabilidad \u00e9xito para un camino. la transitabilidad, es una medida de la calidad de los caminos. Se obtiene a partir de las zonas de aproximaci\u00f3n a las zonas consideradas de tr\u00e1nsito restringido. El c\u00e1lculo es el resultado de integrar la funci\u00f3n de densidad multi-variable de la posici\u00f3n del robot, sobre el \u00e1rea de aproximaci\u00f3n correspondiente. Durante la fase de planificaci\u00f3n, se generan todos los posibles caminos utilizando el mtga. Para cado uno de los caminos se obtienen par\u00e1metros como: distancia, incertidumbre en el objetivo, umbrales de incertidumbre en el camino y transitabilidad. Estos par\u00e1metros permiten la construcci\u00f3n de funciones de optimizaci\u00f3<\/p>\n<p>&nbsp;<\/p>\n<h3>Datos acad\u00e9micos de la tesis doctoral \u00ab<strong>Planificaci\u00f3n de caminos con incertidumbre para robots m\u00f3viles<\/strong>\u00ab<\/h3>\n<ul>\n<li><strong>T\u00edtulo de la tesis:<\/strong>\u00a0 Planificaci\u00f3n de caminos con incertidumbre para robots m\u00f3viles <\/li>\n<li><strong>Autor:<\/strong>\u00a0 Eladio Dapena Gonz\u00e1lez <\/li>\n<li><strong>Universidad:<\/strong>\u00a0 Carlos III de Madrid<\/li>\n<li><strong>Fecha de lectura de la tesis:<\/strong>\u00a0 31\/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: Miguel \u00e1ngel Salichs s\u00e1nchez-caballero <\/li>\n<li>a. Chac\u00f3n edgar (vocal)<\/li>\n<li>Rafael Aracil santonja (vocal)<\/li>\n<li>teresa De pedro lucio (vocal)<\/li>\n<\/ul>\n<\/li>\n<\/ul>\n<p>&nbsp;<\/p>\n","protected":false},"excerpt":{"rendered":"<p>Tesis doctoral de Eladio Dapena Gonz\u00e1lez El principal objetivo de este trabajo es la construcci\u00f3n y prueba de un planificador [&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 center","background-size":"auto","background-attachment":"scroll","background-type":"","background-media":"","overlay-type":"","overlay-color":"","overlay-gradient":""},"tablet":{"background-color":"","background-image":"","background-repeat":"repeat","background-position":"center center","background-size":"auto","background-attachment":"scroll","background-type":"","background-media":"","overlay-type":"","overlay-color":"","overlay-gradient":""},"mobile":{"background-color":"","background-image":"","background-repeat":"repeat","background-position":"center center","background-size":"auto","background-attachment":"scroll","background-type":"","background-media":"","overlay-type":"","overlay-color":"","overlay-gradient":""}},"ast-content-background-meta":{"desktop":{"background-color":"var(--ast-global-color-5)","background-image":"","background-repeat":"repeat","background-position":"center center","background-size":"auto","background-attachment":"scroll","background-type":"","background-media":"","overlay-type":"","overlay-color":"","overlay-gradient":""},"tablet":{"background-color":"var(--ast-global-color-5)","background-image":"","background-repeat":"repeat","background-position":"center center","background-size":"auto","background-attachment":"scroll","background-type":"","background-media":"","overlay-type":"","overlay-color":"","overlay-gradient":""},"mobile":{"background-color":"var(--ast-global-color-5)","background-image":"","background-repeat":"repeat","background-position":"center center","background-size":"auto","background-attachment":"scroll","background-type":"","background-media":"","overlay-type":"","overlay-color":"","overlay-gradient":""}},"footnotes":""},"categories":[18550,332,7742,2535],"tags":[53876,53875,49361,8973,19315,16472],"class_list":["post-17168","post","type-post","status-publish","format-standard","hentry","category-carlos-iii-de-madrid","category-ciencias-tecnologicas","category-robotica","category-tecnologia-de-los-ordenadores","tag-a-chacon-edgar","tag-eladio-dapena-gonzalez","tag-luis-moreno-lorente","tag-miguel-angel-salichs-sanchez-caballero","tag-rafael-aracil-santonja","tag-teresa-de-pedro-lucio"],"_links":{"self":[{"href":"https:\/\/www.deberes.net\/tesis\/wp-json\/wp\/v2\/posts\/17168","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/www.deberes.net\/tesis\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/www.deberes.net\/tesis\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/www.deberes.net\/tesis\/wp-json\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/www.deberes.net\/tesis\/wp-json\/wp\/v2\/comments?post=17168"}],"version-history":[{"count":0,"href":"https:\/\/www.deberes.net\/tesis\/wp-json\/wp\/v2\/posts\/17168\/revisions"}],"wp:attachment":[{"href":"https:\/\/www.deberes.net\/tesis\/wp-json\/wp\/v2\/media?parent=17168"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/www.deberes.net\/tesis\/wp-json\/wp\/v2\/categories?post=17168"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/www.deberes.net\/tesis\/wp-json\/wp\/v2\/tags?post=17168"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}