{"id":57061,"date":"2018-03-09T22:44:50","date_gmt":"2018-03-09T22:44:50","guid":{"rendered":""},"modified":"2018-03-09T22:44:50","modified_gmt":"2018-03-09T22:44:50","slug":"control-de-un-robot-movil-de-cadenas-con-multiples-remolques-a-integracion-en-un-sistema-multirrobot-control-of-a-tracked-mobile-robot-with-several-trailers-and-integration-in-a-multirobot-system","status":"publish","type":"post","link":"https:\/\/www.deberes.net\/tesis\/malaga\/control-de-un-robot-movil-de-cadenas-con-multiples-remolques-a-integracion-en-un-sistema-multirrobot-control-of-a-tracked-mobile-robot-with-several-trailers-and-integration-in-a-multirobot-system\/","title":{"rendered":"Control de un robot m\u00f3vil de cadenas con m\u00faltiples remolques a integraci\u00f3n en un sistema multirrobot (control of a tracked mobile robot with several trailers and integration in a multirobot system)"},"content":{"rendered":"<h2>Tesis doctoral de <strong> Jes\u00fas Morales Rodr\u00edguez <\/strong><\/h2>\n<p>En esta tesis se estudian algunos problemas relacionados con la navegaci\u00f3n aut\u00f3noma de robots m\u00f3viles. En concreto, se analiza en primer lugar la estimaci\u00f3n de movimiento de un veh\u00edculo mediante el emparejamiento de barridos l\u00e1ser. Para ello se emplean algoritmos gen\u00e9ticos en combinaci\u00f3n con una versi\u00f3n 2d de la t\u00e9cnica iterativa de los puntos m\u00e1s cercanos.     asimismo, se aborda el control de robots m\u00f3viles de cadenas, que se resuelve mediante el empleo de un modelo cinem\u00e1tico aproximado. Para poder realizar la identificaci\u00f3n experimental de dicho modelo se utiliza el m\u00e9todo de estimaci\u00f3n de movimiento desarrollado previamente.     a continuaci\u00f3n se trata el control subactuado de un veh\u00edculo no hol\u00f3nomo que arrastra varios remolques pasivos. Se estudian la estabilidad del movimiento de los remolques, y la evitaci\u00f3n de colisiones entre ellos cuando de mueven hacia delante. Tales problemas se solucionan imponiendo l\u00edmites en la curvatura m\u00e1xima del veh\u00edculo tractor, y se aplica con \u00e9xito a un veh\u00edculo de cadenas con dos remolques heterog\u00e9neos.     por \u00faltimo, dentro del marco de la rob\u00f3tica cooperativa, se aborda la problem\u00e1tica de la integraci\u00f3n de un robot m\u00f3vil de cadenas dentro de un equipo heterog\u00e9neo de veh\u00edculos aut\u00f3nomos que realizan una tarea com\u00fan<\/p>\n<p>&nbsp;<\/p>\n<h3>Datos acad\u00e9micos de la tesis doctoral \u00ab<strong>Control de un robot m\u00f3vil de cadenas con m\u00faltiples remolques a integraci\u00f3n en un sistema multirrobot (control of a tracked mobile robot with several trailers and integration in a multirobot system)<\/strong>\u00ab<\/h3>\n<ul>\n<li><strong>T\u00edtulo de la tesis:<\/strong>\u00a0 Control de un robot m\u00f3vil de cadenas con m\u00faltiples remolques a integraci\u00f3n en un sistema multirrobot (control of a tracked mobile robot with several trailers and integration in a multirobot system) <\/li>\n<li><strong>Autor:<\/strong>\u00a0 Jes\u00fas Morales Rodr\u00edguez <\/li>\n<li><strong>Universidad:<\/strong>\u00a0 M\u00e1laga<\/li>\n<li><strong>Fecha de lectura de la tesis:<\/strong>\u00a0 16\/02\/2007<\/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>Alfonso Jose Garcia Cerezo<\/li>\n<\/ul>\n<\/li>\n<li><strong>Tribunal<\/strong>\n<ul>\n<li>Presidente del tribunal: anibal Ollero baturone <\/li>\n<li>klaus Janschek (vocal)<\/li>\n<li>Miguel \u00e1ngel Salichs s\u00e1nchez-caballero (vocal)<\/li>\n<li>Fernando Torres medina (vocal)<\/li>\n<\/ul>\n<\/li>\n<\/ul>\n<p>&nbsp;<\/p>\n","protected":false},"excerpt":{"rendered":"<p>Tesis doctoral de Jes\u00fas Morales Rodr\u00edguez En esta tesis se estudian algunos problemas relacionados con la navegaci\u00f3n aut\u00f3noma de robots [&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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