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(AEBO)-algoritmo bioinspirado de evasión de obstáculos

Ramos Acosta, Diego Alonso; Susa Rincón, José Luis (Universidad Distrital Francisco José de CaldasColombia, 2009)

En este artículo se presenta el desarrollo, prueba y resultados obtenidos del Algoritmo Bioinspirado de Evasión de Obstáculos (ABEO). El objetivo de este artículo es divulgar los resultados de la investigación que tuvo ...
Generation and Control of Basic Geometric Trajectories for a Robot Manipulator Using CompactRIO®

Aroca Trujillo, Jorge Luis; Pérez Ruiz, Alexander; Rodriguez Serrezuela, Ruthber (Hindawi LimitedEgipto., 2017)

The utility of a robot manipulator focuses on the ability to locate its end effector in a position with a determined orientation following a specified trajectory. For this, algorithms were used in order to generate and ...
Reliable Control Architecture with PLEXIL and ROS for Autonomous Wheeled Robots

Pérez, Alexander; Cadavid, Héctor; Rocha, Camilo (Springer NatureColombia, 2017)

Today’s autonomous robots are being used for complex tasks, including space exploration, military applications, and precision agriculture. As the complexity of control architectures increases, reliability of autonomous ...

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(AEBO)-algoritmo bioinspirado de evasión de obstáculos
...
Ramos Acosta, Diego Alonso | 2009

En este artículo se presenta el desarrollo, prueba y resultados obtenidos del Algoritmo Bioinspirado de Evasión de Obstáculos (ABEO). El objetivo de este artículo es divulgar los resultados de la investigación que tuvo como propósito desarrollar un algoritmo que le permitiera a un robot móvil desplazarse de forma autónoma, a fin de alcanzar un objetivo evitando los obstáculos que encuentran en su trayectoria. Los requerimientos para el diseño del algoritmo fueron: alta velocidad de respuesta, bajo consumo de recursos de hardware y capacidad de respuesta ante situaciones no previstas. La prueba del algoritmo se realizó en un entorno simulado, con un robot que solo usa cuatro sensores de distancia, de características similares a uno real infrarrojo, en vez de veinticuatro sensores como en otros métodos de evasión de obstáculos similares. En la pruebas realizadas se comprobó la fiabilidad del método, se observó que ante situaciones no preestablecidas, tales como nuevos obstáculos en el entorno y con errores de medición de hasta el 50% el robot alcanzaba el objetivo, al mismo tiempo que evadía obstáculos.

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Generation and Control of Basic Geometric Trajectories for a Robot Manipulator Using CompactRIO®
...
Aroca Trujillo, Jorge Luis | 2017

The utility of a robot manipulator focuses on the ability to locate its end effector in a position with a determined orientation following a specified trajectory. For this, algorithms were used in order to generate and control the movements joints of robot in a synchronized way. The high-level languages to program robots are based on three types of movement: joint interpolation (MOVEJ), linear interpolation (MOVES), and circular arcs (MOVEC), which are used to develop any type of task. In this work, these three movements are implemented in the industrial controller CompactRIO, as part of the reconditioning process of a robot manipulator of five degrees of freedom (5 DOF) whose controller was obsolete. As a result, it will have an interface in LabVIEW where you can view and modify the basic parameters implemented in the industrial controller. In addition, the results of the validation tests of the joint positions and the end effector of the manipulator will be found.

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Reliable Control Architecture with PLEXIL and ROS for Autonomous Wheeled Robots
...
Pérez, Alexander | 2017

Today’s autonomous robots are being used for complex tasks, including space exploration, military applications, and precision agriculture. As the complexity of control architectures increases, reliability of autonomous robots becomes more challenging to guarantee. This paper presents a hybrid control architecture, based on the Plan Execution Interchange Language ( PLEXIL ), for autonomy of wheeled robots running the Robot Operating System ( ROS ). PLEXIL is a synchronous reactive language developed by NASA for mission critical robotic systems, while ROS is one of the most popular frameworks for robotic middle-ware development. Given the safety-critical nature of spacecraft operations, PLEXIL operational semantics has been mathematically defined, and formal techniques and tools have been developed to automatically analyze plans written in this language. The hybrid control architecture proposed in this paper is showcased in a path tracking scenario using the Husky robot platform via a Gazebo simulation. Thanks to the architecture presented in this paper, all formal analysis techniques and tools currently available to PLEXIL are now available to build reliable plans for ROS -enabled wheeled robots.

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Listar por tema "Mobile robots"

(AEBO)-algoritmo bioinspirado de evasión de obstáculos

Generation and Control of Basic Geometric Trajectories for a Robot Manipulator Using CompactRIO®

Reliable Control Architecture with PLEXIL and ROS for Autonomous Wheeled Robots

Envíos recientes

(AEBO)-algoritmo bioinspirado de evasión de obstáculos

Generation and Control of Basic Geometric Trajectories for a Robot Manipulator Using CompactRIO®

Reliable Control Architecture with PLEXIL and ROS for Autonomous Wheeled Robots

Listar por tema "Mobile robots"

(AEBO)-algoritmo bioinspirado de evasión de obstáculos ﻿

Generation and Control of Basic Geometric Trajectories for a Robot Manipulator Using CompactRIO® ﻿

Reliable Control Architecture with PLEXIL and ROS for Autonomous Wheeled Robots ﻿

Envíos recientes

(AEBO)-algoritmo bioinspirado de evasión de obstáculos

Generation and Control of Basic Geometric Trajectories for a Robot Manipulator Using CompactRIO®

Reliable Control Architecture with PLEXIL and ROS for Autonomous Wheeled Robots

(AEBO)-algoritmo bioinspirado de evasión de obstáculos

Generation and Control of Basic Geometric Trajectories for a Robot Manipulator Using CompactRIO®

Reliable Control Architecture with PLEXIL and ROS for Autonomous Wheeled Robots