Derechos de autor 2020 Investigación e Innovación en Ingenierías
Esta obra está bajo una licencia internacional Creative Commons Atribución 4.0.
Sistema robótico autónomo para la exploración y construcción de mapas en entornos estructurados
Corresponding Author(s) : Jovani Alberto Jimenez Builes
Investigación e Innovación en Ingenierías,
Vol. 8 Núm. 1 (2020): Enero - Junio
Resumen
Objetivo: Construir un sistema robótico para la exploración y el mapeo de entornos interiores de trabajo con una arquitectura y una metodología de diseño propia. Metodología: Se definió una arquitectura y un diseño en la parte de hardware y en la parte lógica. En la parte lógica, se utilizó una representación del entorno basada en celdas de ocupación y una arquitectura de control fundada en comportamientos que fue implementada a través de un control fuzzy. Resultados: Se probó la plataforma robótica en escenarios estructurados como pasillos y salones. Su efectividad se comprobó mediante mapas construidos en un aplicativo desarrollado en Matlab. Conclusiones: Se demostró la capacidad de la plataforma robótica para construir mapas de su entorno de forma explícita, que, aun cuando pueden resultar más demandantes en lo computacional, permite una representación precisa y comprensible.
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- J. Orsuli?, D. Mikli?., and Z. Kova?i?, “Efficient Dense Frontier Detection for 2-D Graph SLAM Based on Occupancy Grid Submaps”, IEEE Robotics and Automation Letters, vol. 4, n°. 4, pp. 3569-3576, 2019.
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- L. Delobel, R. Aufrere, C. Debain, R. Chapuis., and T. Chateau, “A Real-Time Map Refinement Method Using a Multi-Sensor Localization Framework”, IEEE Transactions on Intelligent Transportation Systems, vol. 20, n°. 5, pp. 1644-1658, 2019.
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- M. Imre, E. Oztop, Y. Nagai. and E. Ugur, “Affordance-based altruistic robotic architecture for human–robot collaboration”, Adaptive Behavior, vol. 27, n°. 4, pp. 223-241, 2019.
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Referencias
J. Orsuli?, D. Mikli?., and Z. Kova?i?, “Efficient Dense Frontier Detection for 2-D Graph SLAM Based on Occupancy Grid Submaps”, IEEE Robotics and Automation Letters, vol. 4, n°. 4, pp. 3569-3576, 2019.
J. Huang, N. Zhou., y M. Cao, “Adaptive fuzzy behavioral control of second-order autonomous agents with prioritized missions: Theory and experiments”, IEEE Transactions on Industrial Electronics, vol. 66, n°. 12, pp. 9612-9622, 2019.
A. Fatmi, A.A. Yahmadi, L. Khriji., and N. Masmoudi, "A Fuzzy Logic Navigation of a Mobile Robot", Proceedings of World Academy of Science and Technology, Vol. 15, pp. 255-260, October 2008.
S. Islam, M. Zaman, B. Madon., and M. Othman, "Designing Fuzzy Based Mobile Robot Controller using VHDL", International Journal of Mathematical Models and Methods in Applied Sciences, vol. 2, pp. 138-142, 2008.
A. Pandey, A.K. Kashyap, D.R. Parhi., and B.K. Patle, “Autonomous mobile robot navigation between static and dynamic obstacles using multiple ANFIS architecture”, World Journal of Engineering, vol. 16l, n°. 2, pp. 275-286, 2019.
K. K. Tahboub., and M. S. N. Al-Din, "A Neuro-Fuzzy Reasoning System for Mobile Robot Navigation", Jordan Journal of Mechanical and Industrial Engineering, vol. 3, No. 1, pp. 77-88, 2009.
S. F. Desouky, H.M. Schwartz, "Generic Based Fuzzy Logic Controller for a Wall-Following Mobile Robots", American Control Conference ACC 2009, St. Louis Missouri, USA, 2009.
L. Delobel, R. Aufrere, C. Debain, R. Chapuis., and T. Chateau, “A Real-Time Map Refinement Method Using a Multi-Sensor Localization Framework”, IEEE Transactions on Intelligent Transportation Systems, vol. 20, n°. 5, pp. 1644-1658, 2019.
M. Emharraf, M. Bourhaleb, M. Saber., and M. Rahmoun, “Mobile robot: SLAM implementation for unknown indoor environment exploration”, Journal of Computer Science, vol. 2, n°. 2, pp. 106-112, 2019.
M.K. Habib, "Real Time Mapping and Dynamic Navigation for Mobile Robots", International Journal of Advanced Robotic Systems, Vol. 4, No. 3, pp. 323-338, 2007.
B. Kim, H. Cho, H. Joe., and S.C. Yu, “Optimal strategy for seabed 3D mapping of AUV based on imaging sonar”, 2018 OCEANS - MTS/IEEE Kobe Techno-Oceans, OCEANS - Kobe, 2018.
G. Acosta. "Ambiente Multi-agente Robótico para la Navegación Colaborativa en Escenarios Estructurados". M. Sc. Thesis, Universidad Nacional de Colombia, Medellín, Colombia, 2010.
G. Acosta. “SLAM monocular en tiempo real”. Tesis de doctorado, Universidad Nacional de Colombia, 2019.
C. West, F. Arvin, W. Cheah, M. Giuliani, and B. Lennox, “A Debris Clearance Robot for Extreme Environments”. Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics),11649 LNAI, pp. 148-159, 2019.
X.Z. Li, Y. Gong, X.Y. Zhang, S.M. Jia., and X.N. Liang, “An autonomous exploration method for an indoor mobile robot”. Kongzhi yu Juece/Control and Decision. Vol. 34, Issue. 6, 1 June pp.1227-1233, 2019,
M. Imre, E. Oztop, Y. Nagai. and E. Ugur, “Affordance-based altruistic robotic architecture for human–robot collaboration”, Adaptive Behavior, vol. 27, n°. 4, pp. 223-241, 2019.
D. Nakhaeinia, S. H. Tang, S. B. Mohd Noor, O. Motlagh, "A Review of Control Architectures for Autonomous Navigation of Mobile Robots", International Journal of the Physical Sciences, Vol. 6, n°. 2, pp. 169-174, 2011,
R. Brooks, "A Robust Layered Control System for a Mobile Robot", IEEE Journal of Robotics and Automation, vol. 2, no. 1, 1986, pp.14-23.
V.S. Kalogeiton, K. Ioannidis, G.C. Sirakoulis., and E.B. Kosmatopoulos, “Real-Time Active SLAM and Obstacle Avoidance for an Autonomous Robot Based on Stereo Vision”, Cybernetics and Systems, vol. 50, n°, 3, pp. 239-260, 2019.