{"id":66758,"date":"2008-04-09T00:00:00","date_gmt":"2008-04-09T00:00:00","guid":{"rendered":"https:\/\/www.deberes.net\/tesis\/sin-categoria\/aportaciones-a-la-autolocalizacion-de-robots-autonomos-con-patas\/"},"modified":"2008-04-09T00:00:00","modified_gmt":"2008-04-09T00:00:00","slug":"aportaciones-a-la-autolocalizacion-de-robots-autonomos-con-patas","status":"publish","type":"post","link":"https:\/\/www.deberes.net\/tesis\/ciencias-tecnologicas\/aportaciones-a-la-autolocalizacion-de-robots-autonomos-con-patas\/","title":{"rendered":"Aportaciones a la autolocalizacion de robots aut\u00f3nomos con patas"},"content":{"rendered":"<h2>Tesis doctoral de <strong> Francisco Martin Rico <\/strong><\/h2>\n<p>La capacidad de auto-localizaci\u00f3n es fundamental en rob\u00f3tica m\u00f3vil, permite que un robot se pueda desplazar por un entorno entre puntos globalmente definidos. Tambi\u00e9n permite que el robot realice tareas que dependan de su posici\u00f3n en el mundo.  esta tesis se enfoca en resolver este problema en robots con patas que usan la visi\u00f3n, como principal fuente de informaci\u00f3n. El objetivo es aportar soluciones al problema de auto-localizaci\u00f3n de robots m\u00f3viles, haciendo hincapi\u00e9 en los m\u00e9todos aplicados en el desarrollo de estas soluciones. En concreto, en esta tesis se proponen varias soluciones que combinan algoritmos markovianos difusos y uno o varios filtros extendidos de kalman. Las combinaciones propuestas tomasn las mejores caracter\u00edsticas de ambos algoritmos y consiguen una auto-localizaci\u00f3n confiable, robusta y ligera. Tambi\u00e9n se describen los m\u00e9todos aplicados al desarrollar las soluciones de auto-localizaci\u00f3n, y se describen las herramientas necesarias para ello.  las soluciones prouestas se han implementado en el aibo, un robot m\u00f3vil con aspecto de perro, que se desplaza mediante 4 patas y recibe la informaci\u00f3n del entorno principalmente de una c\u00e1mara situada en su cabeza. El entorno donde se han aportado los resultados m\u00e1s relevantes de esta tesis esla competici\u00f3n de la robocup, donde equipos de robots compiten en un juego similiar al f\u00fatbol. Este entorno es un escenario muy exigente donde se pueden probar y contrastar las tecnolog\u00edas relacionadas con la rob\u00f3tica m\u00f3vil. Estas soluciones se ha usado satisfactoriamente en la edici\u00f3n del german open celebrada en hannover.<\/p>\n<p>&nbsp;<\/p>\n<h3>Datos acad\u00e9micos de la tesis doctoral \u00ab<strong>Aportaciones a la autolocalizacion de robots aut\u00f3nomos con patas<\/strong>\u00ab<\/h3>\n<ul>\n<li><strong>T\u00edtulo de la tesis:<\/strong>\u00a0 Aportaciones a la autolocalizacion de robots aut\u00f3nomos con patas <\/li>\n<li><strong>Autor:<\/strong>\u00a0 Francisco Martin Rico <\/li>\n<li><strong>Universidad:<\/strong>\u00a0 Rey juan carlos<\/li>\n<li><strong>Fecha de lectura de la tesis:<\/strong>\u00a0 04\/09\/2008<\/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>Vicente Matell\u00e1n Olivera<\/li>\n<\/ul>\n<\/li>\n<li><strong>Tribunal<\/strong>\n<ul>\n<li>Presidente del tribunal: Luis Miguel Bergasa pascual <\/li>\n<li>Miguel angel Cazorla quevedo (vocal)<\/li>\n<li>eugenio Aguirre molina (vocal)<\/li>\n<li>humberto Mart\u00ednez barber\u00e1 (vocal)<\/li>\n<\/ul>\n<\/li>\n<\/ul>\n<p>&nbsp;<\/p>\n","protected":false},"excerpt":{"rendered":"<p>Tesis doctoral de Francisco Martin Rico La capacidad de auto-localizaci\u00f3n es fundamental en rob\u00f3tica m\u00f3vil, permite que un robot se [&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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