{"id":30076,"date":"2004-11-05T00:00:00","date_gmt":"2004-11-05T00:00:00","guid":{"rendered":"https:\/\/www.deberes.net\/tesis\/sin-categoria\/slam-geometrico-en-tiempo-real-para-robots-moviles-en-interiores-basado-en-ekf\/"},"modified":"2004-11-05T00:00:00","modified_gmt":"2004-11-05T00:00:00","slug":"slam-geometrico-en-tiempo-real-para-robots-moviles-en-interiores-basado-en-ekf","status":"publish","type":"post","link":"https:\/\/www.deberes.net\/tesis\/politecnica-de-madrid\/slam-geometrico-en-tiempo-real-para-robots-moviles-en-interiores-basado-en-ekf\/","title":{"rendered":"Slam geometrico en tiempo real para robots moviles en interiores basado en ekf"},"content":{"rendered":"<h2>Tesis doctoral de <strong> Diego Rodriguez Losada Gonzalez <\/strong><\/h2>\n<p>La construcci\u00f3n de un mapa del entorno con un robot m\u00f3vil pasa obligatoriamente por la necesidad de localizar simult\u00e1neamente el robot en dicho mapa, lo que es conocido como el problema \u00absimultaneous localization and mapping\u00bb o slam. La soluci\u00f3n al mismo es considerada como una pieza clave en la consecuci\u00f3n de un sistema rob\u00f3tico verdaderamente aut\u00f3nomo.  dentro de las soluciones al problema slam, destacan las probabil\u00edsticas, especialmente aquellas que utilizan un filtro extendido de kalman o ekf para realizar la estimaci\u00f3n del mapa, ya que este algoritmo tiene te\u00f3ricamente unas excelentes propiedades. Existen en la literatura numerosos trabajos basados en este algoritmo, pero sin embargo, los resultados para construir mapas de entornos de interiores de considerable tama\u00f1o, son ciertamente escasos.  esta tesis intenta dar respuesta a este vac\u00edo, realizando desde el planteamiento conceptual hasta la experimentaci\u00f3n intensiva, pasando por una formulaci\u00f3n matem\u00e1tica rigurosa y una implementaci\u00f3n eficiente. Se establece una representaci\u00f3n eficiente adecuada para los entornos de interiores que pueda ser manejada por el ekf, se estudia la consistencia y convergencia de la soluci\u00f3n, y se realiza una nueva formulaci\u00f3n que mejora notablemente dichas propiedades. tambi\u00e9n se formulan, implementan y experimentan con \u00e9xito otros planteamientos, cuyo objetivo es conseguir el procesamiento de los mapas en tiempo real y extender la aplicaci\u00f3n de los algoritmos para la construcci\u00f3n de un mapa mediante la colaboraci\u00f3n de varios robots.  los resultados obtenidos son ciertamente destacables, comprobando la construcci\u00f3n exitosa de mapas en distintos entornos y con distintos robots, bajo distintas condiciones experimentales, como la exploraci\u00f3n remota de entornos poblados por personas o la construcci\u00f3n de mapas grandes en tiempo real mediante varios robots. Estos mapas son adem\u00e1s, extremadamente \u00fatiles para posteriores tareas<\/p>\n<p>&nbsp;<\/p>\n<h3>Datos acad\u00e9micos de la tesis doctoral \u00ab<strong>Slam geometrico en tiempo real para robots moviles en interiores basado en ekf<\/strong>\u00ab<\/h3>\n<ul>\n<li><strong>T\u00edtulo de la tesis:<\/strong>\u00a0 Slam geometrico en tiempo real para robots moviles en interiores basado en ekf <\/li>\n<li><strong>Autor:<\/strong>\u00a0 Diego Rodriguez Losada Gonzalez <\/li>\n<li><strong>Universidad:<\/strong>\u00a0 Polit\u00e9cnica de Madrid<\/li>\n<li><strong>Fecha de lectura de la tesis:<\/strong>\u00a0 11\/05\/2004<\/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>Fernando Matia Espada<\/li>\n<\/ul>\n<\/li>\n<li><strong>Tribunal<\/strong>\n<ul>\n<li>Presidente del tribunal: ramon Galan lopez <\/li>\n<li>Luis Moreno lorente (vocal)<\/li>\n<li>alfonso Jos\u00e9 Garcia cerezo (vocal)<\/li>\n<li>eduardo Zalama casanova (vocal)<\/li>\n<\/ul>\n<\/li>\n<\/ul>\n<p>&nbsp;<\/p>\n","protected":false},"excerpt":{"rendered":"<p>Tesis doctoral de Diego Rodriguez Losada Gonzalez La construcci\u00f3n de un mapa del entorno con un robot m\u00f3vil pasa obligatoriamente [&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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