{"id":42908,"date":"1999-07-05T00:00:00","date_gmt":"1999-07-05T00:00:00","guid":{"rendered":"https:\/\/www.deberes.net\/tesis\/sin-categoria\/planificacion-de-movimientos-en-sistemas-robotizados-mediante-la-aplicacion-de-la-transformada-de-hough\/"},"modified":"1999-07-05T00:00:00","modified_gmt":"1999-07-05T00:00:00","slug":"planificacion-de-movimientos-en-sistemas-robotizados-mediante-la-aplicacion-de-la-transformada-de-hough","status":"publish","type":"post","link":"https:\/\/www.deberes.net\/tesis\/ciencias-tecnologicas\/planificacion-de-movimientos-en-sistemas-robotizados-mediante-la-aplicacion-de-la-transformada-de-hough\/","title":{"rendered":"Planificacion de movimientos en sistemas robotizados mediante la aplicaci\u00f3n de la transformada de hough"},"content":{"rendered":"<h2>Tesis doctoral de <strong> Enrique Jorge Bernabeu  Soler <\/strong><\/h2>\n<p>En la presente tesis se ha abordado la problem\u00e1tica de la planificacion de caminos en sistemas robotizados, pasando por los pasos intermedios de modelado geometrico y deteccion de colisiones.  la contribucion principal que se desprende de este trabajo es el uso de la aplicaci\u00f3n de la transforma de hough. Asi, en un primer paso, y a traves de la utilizacion de dicha transformada, se genera automaticamente, para un conjunto de puntos tomados de la superficie del objeto a modelar, las poli-esferas m\u00e1xima interna y minima externa que modelan al citado objeto.  trabajando con modelos basados en poli-esferas, se vuelve a aplicar la transformada de hough, de forma totalmente an\u00e1loga a la generaci\u00f3n de dicho modelos, para la deteccion de colisi\u00f3n entre poli-esferas. Por otro lado, la aplicaci\u00f3n de dicha transformada permite, al mismo tiempo, la computaci\u00f3n de la minima distancia de traslaci\u00f3n entre dos poli-esferas dadas.  como consecuencia del desarrollo de la tecnica de deteccion de colisiones anteriormente comentada, se aplica la planificacion de movimientos libres de colisi\u00f3n en sistemas robotizados a traves de la distancia de penetraci\u00f3n.  adicionalmente, la transformada de hough se ha utilizado, para la planificaci\u00f3n del movimiento de un circulo en el plano (modelo de un vehiculo movil autonomo), para decidir que obstaculos son los estrictamente necesarios rodear para generar un camino libre de colisi\u00f3n, consiguiendose una complejidad temporal lineal al numero de obstaculos.<\/p>\n<p>&nbsp;<\/p>\n<h3>Datos acad\u00e9micos de la tesis doctoral \u00ab<strong>Planificacion de movimientos en sistemas robotizados mediante la aplicaci\u00f3n de la transformada de hough<\/strong>\u00ab<\/h3>\n<ul>\n<li><strong>T\u00edtulo de la tesis:<\/strong>\u00a0 Planificacion de movimientos en sistemas robotizados mediante la aplicaci\u00f3n de la transformada de hough <\/li>\n<li><strong>Autor:<\/strong>\u00a0 Enrique Jorge Bernabeu  Soler <\/li>\n<li><strong>Universidad:<\/strong>\u00a0 Polit\u00e9cnica de Valencia<\/li>\n<li><strong>Fecha de lectura de la tesis:<\/strong>\u00a0 07\/05\/1999<\/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>Josep Tornero Montserrat<\/li>\n<\/ul>\n<\/li>\n<li><strong>Tribunal<\/strong>\n<ul>\n<li>Presidente del tribunal: pedro Albertos p\u00e9rez <\/li>\n<li>Luis Bas\u00e1\u00f1ez villaluenga (vocal)<\/li>\n<li>Rafael Aracil santonja (vocal)<\/li>\n<li> Pascual del pobil y ferre angel Luis (vocal)<\/li>\n<\/ul>\n<\/li>\n<\/ul>\n<p>&nbsp;<\/p>\n","protected":false},"excerpt":{"rendered":"<p>Tesis doctoral de Enrique Jorge Bernabeu Soler En la presente tesis se ha abordado la problem\u00e1tica de la planificacion 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 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":[332,11013,16820,7742,1124,2535],"tags":[107492,71938,46812,107493,16055,19315],"class_list":["post-42908","post","type-post","status-publish","format-standard","hentry","category-ciencias-tecnologicas","category-ingenieria-de-control","category-politecnica-de-valencia","category-robotica","category-tecnologia-de-la-instrumentacion","category-tecnologia-de-los-ordenadores","tag-enrique-jorge-bernabeu-soler","tag-josep-tornero-montserrat","tag-luis-basanez-villaluenga","tag-pascual-del-pobil-y-ferre-angel-luis","tag-pedro-albertos-perez","tag-rafael-aracil-santonja"],"_links":{"self":[{"href":"https:\/\/www.deberes.net\/tesis\/wp-json\/wp\/v2\/posts\/42908","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=42908"}],"version-history":[{"count":0,"href":"https:\/\/www.deberes.net\/tesis\/wp-json\/wp\/v2\/posts\/42908\/revisions"}],"wp:attachment":[{"href":"https:\/\/www.deberes.net\/tesis\/wp-json\/wp\/v2\/media?parent=42908"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/www.deberes.net\/tesis\/wp-json\/wp\/v2\/categories?post=42908"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/www.deberes.net\/tesis\/wp-json\/wp\/v2\/tags?post=42908"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}