{"id":85547,"date":"2000-03-07T00:00:00","date_gmt":"2000-03-07T00:00:00","guid":{"rendered":"https:\/\/www.deberes.net\/tesis\/sin-categoria\/modelado-y-analisis-de-vehiculos-de-cadneas-para-la-navegacion-autonoma\/"},"modified":"2000-03-07T00:00:00","modified_gmt":"2000-03-07T00:00:00","slug":"modelado-y-analisis-de-vehiculos-de-cadneas-para-la-navegacion-autonoma","status":"publish","type":"post","link":"https:\/\/www.deberes.net\/tesis\/ciencias-tecnologicas\/modelado-y-analisis-de-vehiculos-de-cadneas-para-la-navegacion-autonoma\/","title":{"rendered":"Modelado y analisis de vehiculos de cadneas para la navegaci\u00f3n autonoma"},"content":{"rendered":"<h2>Tesis doctoral de <strong> Salvador Pedraza Moreno <\/strong><\/h2>\n<p>En esta tesis se ha realizado el an\u00e1lisis y modelado del sistema de locomoci\u00f3n de los veh\u00edculos de cadenas en los apsectos referentes a la navegaci\u00f3n aut\u00f3noma. Por un lado se ha obtenido un modelo din\u00e1mico que, por su gran complejidad, no puede ser implantado en un sistema de navegaci\u00f3nde tiempo real. A partir de la respuesta estacionaria de este mdoelo din\u00e1mico se ha obtenido unsistema param\u00e9trico que modela cinem\u00e1ticamente el sistema de locomoci\u00f3n de los veh\u00edculos oruga.  se ha analizado, adem\u00e1s, la eficiencia energ\u00e9tica y la perdida de maniobralidad que aconsejan la utilizaci\u00f3n de t\u00e9cnicas propias de seguimiento de rutas, proponi\u00e9ndose un algoritmo y comparando los resultados con los obtenidos con un algortimo cl\u00e1sico de seguimiento de caminos en veh\u00edculos rodados.  se ha desarrollado, igualmente, un sistema, basado en aceler\u00f3metros que permite evaluar el margen de estabilidad del veh\u00edculo en su movimiento sobre el plano.  por \u00faltimo, se ha analizado la transici\u00f3n brusca entre rasantes de los veh\u00edculos r\u00edgidos de cadenas, obteni\u00e9ndose un modelo de este proceso. Por sus caracter\u00edsticas se propone la utilizaci\u00f3n de un controlador borroso para suavizar dicha transici\u00f3n y reducir la posibilidad de vuelco del veh\u00edculo.  los experimientos presentados en esta tesis se han aralizado sobre el robot m\u00f3vil de cadenas auriga-a, que ha sido desarrollado en el departamenteo de ingenier\u00eda de sistemas y autom\u00e1tica de la universidad de m\u00e1laga.<\/p>\n<p>&nbsp;<\/p>\n<h3>Datos acad\u00e9micos de la tesis doctoral \u00ab<strong>Modelado y analisis de vehiculos de cadneas para la navegaci\u00f3n autonoma<\/strong>\u00ab<\/h3>\n<ul>\n<li><strong>T\u00edtulo de la tesis:<\/strong>\u00a0 Modelado y analisis de vehiculos de cadneas para la navegaci\u00f3n autonoma <\/li>\n<li><strong>Autor:<\/strong>\u00a0 Salvador Pedraza Moreno <\/li>\n<li><strong>Universidad:<\/strong>\u00a0 M\u00e1laga<\/li>\n<li><strong>Fecha de lectura de la tesis:<\/strong>\u00a0 03\/07\/2000<\/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>Antonio Barreiro blas (vocal)<\/li>\n<li> Salich sanchez Miguel angel (vocal)<\/li>\n<li> Mu\u00f1oz Martinez victor Fernando (vocal)<\/li>\n<\/ul>\n<\/li>\n<\/ul>\n<p>&nbsp;<\/p>\n","protected":false},"excerpt":{"rendered":"<p>Tesis doctoral de Salvador Pedraza Moreno En esta tesis se ha realizado el an\u00e1lisis y modelado del sistema de locomoci\u00f3n [&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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