Published:
2015-12-01Issue:
Vol. 12 No. 2 (2015): Tekhnê JournalSection:
ArticlesEvaluación de estrategia de navegación autónoma basada en comportamiento reactivo para plataformas robóticas móviles
Evaluation of autonomous navigation strategy based on reactive behavior for mobile robotic platforms
Keywords:
Planeación de movimiento, robot móvil, sistema no holonómicos, sonar (es).Keywords:
Mobile robot, nonholonomic system, path planning, sonar (en).Downloads
Abstract (es)
En esta investigación se presenta una evaluación de desempeño sobre una plataforma real de una estrategia utilizada para el cálculo del movimiento de un robot no holonómico en un ambiente desordenado. El robot no tiene acceso a la información métrica sobre la ubicación de los obstáculos o de su propia posición, ni tampoco control de odometría o velocidad. Se utiliza el reconocimiento en tiempo real de la señal radiada desde la posición de destino, que permite al robot navegar y aprender información global acerca de la ubicación del destino. Se demuestran tareas de ejemplo que se pueden realizar con este enfoque.Abstract (en)
We presented a performance evaluation on a real platform of an approach to computing motion strategies for a nonholonomic robot in a cluttered environment. The robot has no access to either metric information about the location of obstacles and its own position, or to odometry or speed controls. We use real-time recognition of radiated signal from the target position, that allow the robot to navigate and to learn global information about the target location. We demonstrate example tasks that can be performed using this approach.References
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