{"id":24208,"date":"2003-01-07T00:00:00","date_gmt":"2003-01-07T00:00:00","guid":{"rendered":"https:\/\/www.deberes.net\/tesis\/sin-categoria\/modelado-de-zonas-cruzables-en-entornos-exteriores-para-robots-moviles\/"},"modified":"2003-01-07T00:00:00","modified_gmt":"2003-01-07T00:00:00","slug":"modelado-de-zonas-cruzables-en-entornos-exteriores-para-robots-moviles","status":"publish","type":"post","link":"https:\/\/www.deberes.net\/tesis\/carlos-iii-de-madrid\/modelado-de-zonas-cruzables-en-entornos-exteriores-para-robots-moviles\/","title":{"rendered":"Modelado de zonas cruzables en entornos exteriores para robots moviles"},"content":{"rendered":"<h2>Tesis doctoral de <strong> Cristina Castejon Sisamon <\/strong><\/h2>\n<p>El desarrollo de nuevas aplicaciones en el campo de la rob\u00f3tica m\u00f3vil, tales como la seguridad civil o la exploraci\u00f3n planetaria, est\u00e1n abriendo nuevas \u00e1reas de inter\u00e9s que se centran en el trabajo de robots en entornos exteriores. En este tipo de entornos se hace patente la necesidad de un sistema sensorial robusto, capaz de obtener toda la informaci\u00f3n necesaria.  esta informaci\u00f3n, enel caso m\u00e1s general, se traduce en la construcci\u00f3n de un mapa que permite al robot saber d\u00f3nde se encuentra y hacia d\u00f3nde puede ir. No existe un modelo ideal, la elecci\u00f3n del modelo siempre depender\u00e1 de las caracter\u00edsticas del robot, de las del entorno y de la tarea que \u00e9ste vaya a realizar.  en la presente tesis, se ha desarrollado un algoritmo de modelado del entorno, basado en diagramas de voroni, que representa de forma reducida y simple el entorno percibido por un tel\u00e9metro l\u00e1ser tridimensional. El modelo final, utiliza un modelo tridimensional de cruzabilidad previo. Los desarrollos de diferentes metodolog\u00edas para la obtenci\u00f3n del modelo de cruzabilidad se presentan tambi\u00e9n en la tesis. Este modelo de zonas cruzables se obtiene a partir de las caracter\u00edsticas del terreno y del robot que va  a evolucionar en \u00e9l. La discretizaci\u00f3n del entorno y la utilizaci\u00f3n de t\u00e9cnicas  de visi\u00f3n artificial para la simplificaci\u00f3n de los modelos tambi\u00e9n se lleva a cabo. todo el desarrollo se encamina a la obtenci\u00f3n de un modelo global que representa de manera topol\u00f3gica, un entorno exterior de grandes dimensiones. El modelo es sencillo, reducido y puede obtenerse en tiempo real.<\/p>\n<p>&nbsp;<\/p>\n<h3>Datos acad\u00e9micos de la tesis doctoral \u00ab<strong>Modelado de zonas cruzables en entornos exteriores para robots moviles<\/strong>\u00ab<\/h3>\n<ul>\n<li><strong>T\u00edtulo de la tesis:<\/strong>\u00a0 Modelado de zonas cruzables en entornos exteriores para robots moviles <\/li>\n<li><strong>Autor:<\/strong>\u00a0 Cristina Castejon Sisamon <\/li>\n<li><strong>Universidad:<\/strong>\u00a0 Carlos III de Madrid<\/li>\n<li><strong>Fecha de lectura de la tesis:<\/strong>\u00a0 01\/07\/2003<\/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>ricardo Sainz bravo (vocal)<\/li>\n<li>Jos\u00e9 ram\u00f3n Alique l\u00f3pez (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 Cristina Castejon Sisamon El desarrollo de nuevas aplicaciones en el campo de la rob\u00f3tica m\u00f3vil, tales como [&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],"tags":[16520,71286,2460,49361,71287],"class_list":["post-24208","post","type-post","status-publish","format-standard","hentry","category-carlos-iii-de-madrid","tag-carlos-balaguer-bernaldo-de-quiros","tag-cristina-castejon-sisamon","tag-jose-ramon-alique-lopez","tag-luis-moreno-lorente","tag-ricardo-sainz-bravo"],"_links":{"self":[{"href":"https:\/\/www.deberes.net\/tesis\/wp-json\/wp\/v2\/posts\/24208","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=24208"}],"version-history":[{"count":0,"href":"https:\/\/www.deberes.net\/tesis\/wp-json\/wp\/v2\/posts\/24208\/revisions"}],"wp:attachment":[{"href":"https:\/\/www.deberes.net\/tesis\/wp-json\/wp\/v2\/media?parent=24208"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/www.deberes.net\/tesis\/wp-json\/wp\/v2\/categories?post=24208"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/www.deberes.net\/tesis\/wp-json\/wp\/v2\/tags?post=24208"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}