{"id":85999,"date":"2018-03-10T00:10:29","date_gmt":"2018-03-10T00:10:29","guid":{"rendered":"https:\/\/www.deberes.net\/tesis\/sin-categoria\/desarrollo-de-una-arquitectura-para-robots-moviles-autonomos-aplicacion-a-un-sistema-de-navegacion-topologica\/"},"modified":"2018-03-10T00:10:29","modified_gmt":"2018-03-10T00:10:29","slug":"desarrollo-de-una-arquitectura-para-robots-moviles-autonomos-aplicacion-a-un-sistema-de-navegacion-topologica","status":"publish","type":"post","link":"https:\/\/www.deberes.net\/tesis\/ciencias-tecnologicas\/desarrollo-de-una-arquitectura-para-robots-moviles-autonomos-aplicacion-a-un-sistema-de-navegacion-topologica\/","title":{"rendered":"Desarrollo de una arquitectura para robots m\u00f3viles aut\u00f3nomos, aplicaci\u00f3n a un sistema de navegaci\u00f3n topol\u00f3gica"},"content":{"rendered":"<h2>Tesis doctoral de <strong> Ram\u00f3n Ignacio Baraber Casta\u00f1o <\/strong><\/h2>\n<p>El objetivo de esta tesis es el desarrollo de una arquitectura para el control de robots m\u00f3viles aut\u00f3nomos y su aplicaci\u00f3n al caso de navegaci\u00f3n topol\u00f3gica. Para la elaboraci\u00f3n de la arquitectura se ha tenido en cuenta como son los procesos mentales en los humanos. La arquitectura desarrollada es una arquitectura que consta de dos noveles; uno deliberativo y otro autom\u00e1tico. Por ello la arquitectura ha disodenominada ad (automatic-deliverative arachitecture). En el nivel de liberativo se encuentran aquellas habilidades que requieren tiempo de c\u00f3mputo elevado como consecuencia de razonamientos a alto nivel. Estas habilidades son gestionadas por un secuenciador existente en este nivel, que activa y desactiva las distintas habilidades deliberativas. en el nivel autom\u00e1tico se encuntran las habilidades que interact\u00faan con los sensores y actuadores del robot. Esta habilidades on gestionadas por habilidades del nivel deliberativo y se encargan del movimiento del robot y de activar los sistemas auxiliares necesarios para la percepci\u00f3n del entorno. La respuesta de las habilidades autom\u00e1ticas son m\u00e1s r\u00e1pidas que la de las habilidades deliberativas. Dichas arquitectura ha sido aplicada a un novedoso sistema de navegaci\u00f3n topol\u00f3gica denominado edn (event driven navigation). Este sistema se basa en la informaci\u00f3n contenida en un tipo original de mapa topol\u00f3gico: la carta de navegaci\u00f3n. En dicha carta de navegaci\u00f3n la informaci\u00f3n se guarda en forma de nodos y arcos. Los nodos se corresponden con eventos sensoriales y los arcos con acciones. Finalmente, se ha demostrado experimentalmente la viabilidad de la nueva arquitectura y del sistema de navegaci\u00f3n implementado sobre ella.<\/p>\n<p>&nbsp;<\/p>\n<h3>Datos acad\u00e9micos de la tesis doctoral \u00ab<strong>Desarrollo de una arquitectura para robots m\u00f3viles aut\u00f3nomos, aplicaci\u00f3n a un sistema de navegaci\u00f3n topol\u00f3gica<\/strong>\u00ab<\/h3>\n<ul>\n<li><strong>T\u00edtulo de la tesis:<\/strong>\u00a0 Desarrollo de una arquitectura para robots m\u00f3viles aut\u00f3nomos, aplicaci\u00f3n a un sistema de navegaci\u00f3n topol\u00f3gica <\/li>\n<li><strong>Autor:<\/strong>\u00a0 Ram\u00f3n Ignacio Baraber Casta\u00f1o <\/li>\n<li><strong>Universidad:<\/strong>\u00a0 Carlos III de Madrid<\/li>\n<li><strong>Fecha de lectura de la tesis:<\/strong>\u00a0 14\/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>caballero Salichs S\u00e1nchez<\/li>\n<\/ul>\n<\/li>\n<li><strong>Tribunal<\/strong>\n<ul>\n<li>Presidente del tribunal: Carlos Balaguer bernaldo de quir\u00f3s <\/li>\n<li>ricardo Garc\u00eda rosa (vocal)<\/li>\n<li>ram\u00f3n Gal\u00e1n l\u00f3pez (vocal)<\/li>\n<li>  (vocal)<\/li>\n<\/ul>\n<\/li>\n<\/ul>\n<p>&nbsp;<\/p>\n","protected":false},"excerpt":{"rendered":"<p>Tesis doctoral de Ram\u00f3n Ignacio Baraber Casta\u00f1o El objetivo de esta tesis es el desarrollo de una arquitectura para el 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