{"id":71792,"date":"2018-03-09T23:16:29","date_gmt":"2018-03-09T23:16:29","guid":{"rendered":"https:\/\/www.deberes.net\/tesis\/sin-categoria\/planificacion-de-trayectorias-en-sistemas-multirrobot\/"},"modified":"2018-03-09T23:16:29","modified_gmt":"2018-03-09T23:16:29","slug":"planificacion-de-trayectorias-en-sistemas-multirrobot","status":"publish","type":"post","link":"https:\/\/www.deberes.net\/tesis\/ciencias-tecnologicas\/planificacion-de-trayectorias-en-sistemas-multirrobot\/","title":{"rendered":"Planificaci\u00f3n de trayectorias en sistemas multirrobot"},"content":{"rendered":"<h2>Tesis doctoral de <strong>  Cruz Martin Ana M. <\/strong><\/h2>\n<p>En esta tesis se aborda el problema de la planificaci\u00f3n de trayectorias en sistemas rob\u00f3ticos compuestos por m\u00faltiples elementos. Como punto de partida, se toma un algoritmo de planificaci\u00f3n de velocidades para un \u00fanico robot que genera trayectoria cuyos perfiles de velocidad tienen en cuenta las limitaciones de velocidad, tanto f\u00edsicas como operacionales que influyen de manera significativa en el movimiento del veh\u00edculo.  dicho algoritmo monorrobot se extiende al caso multirrobot, proporcionando una trayectoria segura a cada una de los veh\u00edculos que integran el sistema.  la planificaci\u00f3n de trayectorias multirrobot se ha incorporado a la arquitectura de control de robot aut\u00f3nomo m\u00f3vil aurigaa.  la planificaci\u00f3n de trayectorias multirrobot planteada admite diferentes soluciones, cuyo grado de bondad ser\u00e1 tambi\u00e9n diferente. Por tanto, resolver el problema convenientemente no implica hallar cualquier soluci\u00f3n, sino determinar la mejor soluci\u00f3n seg\u00fan ciertos criterios que puedan establecerse para cada sistema multirrobot. Este trabajo analiza en profundidad que tipo de herramienta ser\u00eda la m\u00e1s apropiada para determinar la ordenaci\u00f3n que proporcione la ordenaci\u00f3n \u00f3ptima, llegando a la conclusi\u00f3n de que los algoritmos gen\u00e9ticos resultan una buena elecci\u00f3n, e implantando tambi\u00e9n un algoritmo gen\u00e9tico que establece el orden de prioridades en el que se aplica el algoritmo de planificaci\u00f3n de trayectorias multirrobot.  para facilitar las tareas de experimentaci\u00f3n y pruebas se ha desarrollado un entorno gr\u00e1fico de simulaci\u00f3n de sistemas multirrobot, lo que evita la necesidad de emplear un sistema multirrobot real, que habitualmente resulta  muy costoso y complejo de organizar y manejar.  a todo ello se a\u00f1ade una recopilaci\u00f3n pormenorizada de las diferentes arquitecturas de sistemas multirrobot existente en la literatura hasta la fecha, as\u00ed como el estudio, bastante amplio, y la posterior clasificaci\u00f3n de las<\/p>\n<p>&nbsp;<\/p>\n<h3>Datos acad\u00e9micos de la tesis doctoral \u00ab<strong>Planificaci\u00f3n de trayectorias en sistemas multirrobot<\/strong>\u00ab<\/h3>\n<ul>\n<li><strong>T\u00edtulo de la tesis:<\/strong>\u00a0 Planificaci\u00f3n de trayectorias en sistemas multirrobot <\/li>\n<li><strong>Autor:<\/strong>\u00a0  Cruz Martin Ana M. <\/li>\n<li><strong>Universidad:<\/strong>\u00a0 M\u00e1laga<\/li>\n<li><strong>Fecha de lectura de la tesis:<\/strong>\u00a0 13\/12\/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>Alfonso Jose Garcia Cerezo<\/li>\n<\/ul>\n<\/li>\n<li><strong>Tribunal<\/strong>\n<ul>\n<li>Presidente del tribunal: an\u00edbal Ollero baturone <\/li>\n<li>Miguel \u00e1ngel Salichs s\u00e1nchez-caballero (vocal)<\/li>\n<li>Rafael Aracil santonja (vocal)<\/li>\n<li>Antonio Barreiro blas (vocal)<\/li>\n<\/ul>\n<\/li>\n<\/ul>\n<p>&nbsp;<\/p>\n","protected":false},"excerpt":{"rendered":"<p>Tesis doctoral de Cruz Martin Ana M. En esta tesis se aborda el problema de la planificaci\u00f3n de trayectorias en [&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":[332,8968,7834,8967,2535],"tags":[18672,16383,39299,156325,8973,19315],"class_list":["post-71792","post","type-post","status-publish","format-standard","hentry","category-ciencias-tecnologicas","category-dispositivos-de-control","category-malaga","category-sistemas-en-tiempo-real","category-tecnologia-de-los-ordenadores","tag-alfonso-jose-garcia-cerezo","tag-anibal-ollero-baturone","tag-antonio-barreiro-blas","tag-cruz-martin-ana-m","tag-miguel-angel-salichs-sanchez-caballero","tag-rafael-aracil-santonja"],"_links":{"self":[{"href":"https:\/\/www.deberes.net\/tesis\/wp-json\/wp\/v2\/posts\/71792","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=71792"}],"version-history":[{"count":0,"href":"https:\/\/www.deberes.net\/tesis\/wp-json\/wp\/v2\/posts\/71792\/revisions"}],"wp:attachment":[{"href":"https:\/\/www.deberes.net\/tesis\/wp-json\/wp\/v2\/media?parent=71792"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/www.deberes.net\/tesis\/wp-json\/wp\/v2\/categories?post=71792"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/www.deberes.net\/tesis\/wp-json\/wp\/v2\/tags?post=71792"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}