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Global navigation approach for assistant robot
| dc.contributor.author | Martínez Santa, Fernando | |
| dc.contributor.author | Arbulú, Mario Ricardo | |
| dc.contributor.author | Orjuela, Santiago | |
| dc.date.accessioned | 2023-09-28T21:46:58Z | |
| dc.date.available | 2023-09-28T21:46:58Z | |
| dc.date.issued | 2016 | |
| dc.identifier.citation | APA | spa |
| dc.identifier.issn | 0123-921X | spa |
| dc.identifier.uri | https://repositorio.cun.edu.co/handle/cun/4360 | |
| dc.description.abstract | Context: This work shows a novel navigation approach based on images for an assistant hybrid robot composed by a humanoid and an omnidirectional platform. Method: This approach introduces a complex space analysis, using Zeros and Poles attraction-repulsion principle. In order to perform the algorithm, an integrated system is developed; this system includes: an external camera to take a global navigation surface view, the assistant robot, and communication devices. Navigation is supported by some digital image processing algorithms and performed using the root location technique. Results: An integrated system of global navigation with external sensors was successfully implemented for the proposed hybrid robot. Conclusions: Some simulation and experimental tests will be discussed in order to validate this proposal and the whole system. Additionally, some suggestions for future research are proposed. | eng |
| dc.format.extent | 13 Paginas | spa |
| dc.format.mimetype | application/pdf | spa |
| dc.language.iso | eng | spa |
| dc.subject.ddc | Ingeniería y operaciones afines | spa |
| dc.title | Global navigation approach for assistant robot | eng |
| dc.type | Artículo de revista | spa |
| dcterms.audience | Estudiantes, docentes, investigadores, comunidad académica. | eng |
| dc.contributor.researchgroup | IDECUN | spa |
| dc.description.researcharea | Ingeniería y Tecnología -- Ingenierías Eléctrica, Electrónica e Informática -- Ingeniería Eléctrica y Electrónica | spa |
| dc.identifier.eissn | 2248-7638 | spa |
| dc.relation.references | Ahsan, F. & Hasan, K.M.U. (2015). Seeker: Autonomous maze-navigating and ball-potting robot. In 2015 International Conference on Open Source Systems & Technologies (ICOSST) (pp. 52–57). IEEE. http:// doi.org/10.1109/ICOSST.2015.7396402 | spa |
| dc.relation.references | Andrakhanov, A. A. (2013). Navigation of Autonomous Mobile Robot in Homogeneous and Heterogeneous Environments on Basis of GMDH Neural Networks. In Proceedings of 4th International Conference on Inductive Modelling (ICIM-2013) (pp. 133–138). | spa |
| dc.relation.references | Arbulú Saavedra, M.R., Martínez Santa, F. & Montiel Ariza, H. (2015, November 4). Metodología para el uso de la técnica de localización de raíces en la planeación de rutas para robots móviles. Revista Tecnura. http://doi.org/10.14483/udistrital.jour. tecnura.2015.4.a04 | spa |
| dc.relation.references | Arslan, O. & Koditschek, D. E. (2016). Exact robot navigation using power diagrams. In Robotics and Automation, 2016 IEEE International Conference on (accepted). | spa |
| dc.relation.references | Balestrino, A. & Landi, A. (2002). High level path coordination for multiple vehicles and reciprocal root locus. IFAC Proceedings Volumes, 35(1), 415–420. | spa |
| dc.relation.references | Bermudez, G., Castellar, L.A.R., Montiel, H. & Ceballos, M. (2004). Aplicación del método de campos de potencial artificial para un robot móvil autónomo. Revista Tecnura, 7(14), 86–96. | spa |
| dc.relation.references | Chen, Y., Luo, G., Mei, Y., Yu, J. & Su, X. (2016). UAV path planning using artificial potential field method updated by optimal control theory. International Journal of Systems Science, 47(6), 1407–1420. | spa |
| dc.relation.references | Fujimori, A., Murakoshi, T. & Ogawa, Y. (2004). Navigation and local path planning of mobile robots with real-time map-building. Integrated Computer-Aided Engineering, 11(3), 281–288. Retrieved from https:// search.ebscohost.com/login.aspx?direct=true%- 7B&%7Ddb=aph%7B&%7DAN=13857304%- 7B&%7Dlang=es%7B&%7Dsite=ehost-live | spa |
| dc.relation.references | Gaschler, A., Nogina, S., Petrick, R.P.A. & Knoll, A. (2014). Planning perception and action for cognitive mobile manipulators. In IS&T/SPIE Electronic Imaging (p. 90250D—90250D). | spa |
| dc.relation.references | Lin, C.-J., Chen, Y.-L., Liu, C.-H. & Yu, S. K. (2013). Path planning of a Mobile Robot Using Real-coded Genetic Algorithm Based Simultaneous Exploration. In 2nd International Conference on Advances in Computer Science and Engineering (CSE 2013). | spa |
| dc.rights.accessrights | info:eu-repo/semantics/closedAccess | spa |
| dc.subject.proposal | Navigation | eng |
| dc.subject.proposal | Path planning | eng |
| dc.subject.proposal | Mobile robot | eng |
| dc.subject.proposal | Root Locus | eng |
| dc.subject.proposal | Omnidirectional platform | eng |
| dc.type.coar | http://purl.org/coar/resource_type/c_2df8fbb1 | spa |
| dc.type.coarversion | http://purl.org/coar/version/c_ab4af688f83e57aa | spa |
| dc.type.content | Text | spa |
| dc.type.driver | info:eu-repo/semantics/article | spa |
| dc.type.redcol | http://purl.org/redcol/resource_type/ART | spa |
| dc.type.version | info:eu-repo/semantics/acceptedVersion | spa |
| dc.rights.coar | http://purl.org/coar/access_right/c_14cb | spa |
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