{"id":27191,"date":"2018-03-09T09:19:21","date_gmt":"2018-03-09T09:19:21","guid":{"rendered":"https:\/\/www.deberes.net\/tesis\/sin-categoria\/sistema-de-navegacion-topologica-para-robots-moviles-autonomos\/"},"modified":"2018-03-09T09:19:21","modified_gmt":"2018-03-09T09:19:21","slug":"sistema-de-navegacion-topologica-para-robots-moviles-autonomos","status":"publish","type":"post","link":"https:\/\/www.deberes.net\/tesis\/carlos-iii-de-madrid\/sistema-de-navegacion-topologica-para-robots-moviles-autonomos\/","title":{"rendered":"Sistema de navegacion topologica para robots moviles autonomos"},"content":{"rendered":"<h2>Tesis doctoral de <strong> Veronica Egido Garcia <\/strong><\/h2>\n<p>Se ha desarrollado un sistema de navegaci\u00f3n completo, que permite a un robot moverse por un entorno, reaccionando ante cambios y modificando su conducta dependiendo de experiencias pasadas, as\u00ed como recuperarse de situaciones imprevistas durante el transcurso de la navegaci\u00f3n. Este sistema de navegaci\u00f3n se denomina auron \u00abautonomous robot navigation\u00bb. Constituye un sistema de navegaci\u00f3n de car\u00e1cter fundamentalmente topol\u00f3gico que basa su forma de navegar en la metodolog\u00eda edn \u00abevent driven navigation\u00bb que imita la manera de moverse de los humanos, mediante la sucesi\u00f3n de acciones y eventos. el sistema auron completa la funcionalidad de la navegaci\u00f3n edn con mecanismos de planificaci\u00f3n, relocalizaci\u00f3n y exploraci\u00f3n del entorno.La autonom\u00eda del sistema de navegaci\u00f3n auron se logra mediante la interacci\u00f3n de cuatro componentes b\u00e1sicos: la generaci\u00f3n aut\u00f3noma de la representaci\u00f3n del entorno, la planificaci\u00f3n de la secuencia de acciones y percepciones que llevan al robot de un evento inicial a otro final de acuerdo a un criterio de optimizaci\u00f3n, la navegaci\u00f3n que convierte esas secuencias en movimientos reales supervisando todo el proceso y, por \u00faltimo, la relocalizaci\u00f3n que permite situar de nuevo al robot en la representaci\u00f3n en caso de que se haya perdido. Todos estos componentes han sido implementados en la arquitectura de control ad (automatico-deliberativa) como habilidades del nivel deliberativo, haci\u00e9ndose necesario la creaci\u00f3n de un modelo de habilidad deliberativa para su implementaci\u00f3n. Se ha modificado y ampliado la representaci\u00f3n del entorno llamada carta de navegaci\u00f3n, utilizada en la navegaci\u00f3n basada en eventos. Se le ha dotado de las caracter\u00edsticas necesarias para constituir el nexo entre los cuatro componentes del sistema de navegaci\u00f3n auron, facilitando la autonom\u00eda buscada.Finalmente, se han realizado resultados experimentales sobre un robot m\u00f3vil que demuestran la viabilidad del sistema<\/p>\n<p>&nbsp;<\/p>\n<h3>Datos acad\u00e9micos de la tesis doctoral \u00ab<strong>Sistema de navegacion topologica para robots moviles autonomos<\/strong>\u00ab<\/h3>\n<ul>\n<li><strong>T\u00edtulo de la tesis:<\/strong>\u00a0 Sistema de navegacion topologica para robots moviles autonomos <\/li>\n<li><strong>Autor:<\/strong>\u00a0 Veronica Egido Garcia <\/li>\n<li><strong>Universidad:<\/strong>\u00a0 Carlos III de Madrid<\/li>\n<li><strong>Fecha de lectura de la tesis:<\/strong>\u00a0 28\/11\/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> Barber Casta\u00f1o Ramon Ignacio<\/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>alicia Casals gelpi (vocal)<\/li>\n<li>anibal Ollero baturone (vocal)<\/li>\n<li>ramon Galan lopez (vocal)<\/li>\n<\/ul>\n<\/li>\n<\/ul>\n<p>&nbsp;<\/p>\n","protected":false},"excerpt":{"rendered":"<p>Tesis doctoral de Veronica Egido Garcia Se ha desarrollado un sistema de navegaci\u00f3n completo, que permite a un robot moverse [&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":[41205,16383,78213,16520,40361,78212],"class_list":["post-27191","post","type-post","status-publish","format-standard","hentry","category-carlos-iii-de-madrid","tag-alicia-casals-gelpi","tag-anibal-ollero-baturone","tag-barber-castano-ramon-ignacio","tag-carlos-balaguer-bernaldo-de-quiros","tag-ramon-galan-lopez","tag-veronica-egido-garcia"],"_links":{"self":[{"href":"https:\/\/www.deberes.net\/tesis\/wp-json\/wp\/v2\/posts\/27191","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=27191"}],"version-history":[{"count":0,"href":"https:\/\/www.deberes.net\/tesis\/wp-json\/wp\/v2\/posts\/27191\/revisions"}],"wp:attachment":[{"href":"https:\/\/www.deberes.net\/tesis\/wp-json\/wp\/v2\/media?parent=27191"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/www.deberes.net\/tesis\/wp-json\/wp\/v2\/categories?post=27191"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/www.deberes.net\/tesis\/wp-json\/wp\/v2\/tags?post=27191"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}