Implementation of algorithms for navigation of an autonomous mobile robot by using software component based frameworks
Identificadores
URI: http://hdl.handle.net/10317/2857Compartir
Métricas
Estadísticas
Ver Estadísticas de usoMetadatos
Mostrar el registro completo del ítemDirector/a
Ortiz Zaragoza, Francisco José; Alonso Cáceres, DiegoEscuela/Centro
Escuela Técnica Superior de Ingeniería de TelecomunicaciónUniversidad
Universidad Politécnica de CartagenaDepartamento
Tecnologías de la Información y las ComunicacionesFecha de publicación
2012-10-19Palabras clave
RobóticaAlgoritmos
C++
Robot móvil
Ingeniería del software
Resumen
This project is divided into five main goals/objectives:
Definition of a classification method for the various robotic subsystems used for navigation of an autonomous mobile robot. Together with this goal, it comes the analysis of the state of the art in terms of algorithms for local and global navigation of an autonomous mobile robot.
Implementation on C++ of the algorithms A* and Vector Field Histogram, for global and local navigation, respectively.
Design of an application that performs an hybrid behaviour in terms of navigation of an autonomous mobile robot. As main feature of this application, there is a decision-making component that makes the robot able to choose between both algorithms depending on environment around it. If the environment is not known, this component must request the local navigation algorithm to guide the robot since on this situation, the main goal is to avoid the unknown obstacles on the environment, and if the environment is known, this component ...
Colecciones
El ítem tiene asociados los siguientes ficheros de licencia:
Redes sociales