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Navegación de un robot móvil autónomo utilizando el concepto de campo de fuerza combinado

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Ramos Acosta, Diego Alonso
Susa Rincón, José Luis
Abstract (Spanish)
En este artículo se presentan el desarrollo, prueba y resultados obtenidos de un algoritmo de evasión de obstáculos basado en el método de campo de potencial (PFM, por su sigla en inglés) y combinado con el método de seguimiento de contornos, para resolver el problema del mínimo local que posee el PFM. Adicionalmente, se divulgan los resultados de la investigación, cuyo propósito fue desarrollar un algoritmo que permitiera a un robot móvil desplazarse en forma autónoma, con el fin de alcanzar una meta, evitando los obstáculos que encontrara 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. Las simulaciones demuestran que el algoritmo soluciona el problema del mínimo local, inherente al uso del PFM, y puede implementarse en un robot real, cumpliendo con las características citadas previamente.
Abstract (English)
This article presents the development, testing and results from an obstacle avoidance algorithm based on potential field method (PFM), combined with the contour following method to solve the problem of local minimum in the PFM. In this paper, we report the findings of the research, whose objective was to develop an algorithm that allowed a mobile robot to navigate autonomously to reach a goal, avoiding obstacles in its path. Requirements for the design of the algorithm were high response speed, low consumption of hardware resources and capacity answer to unforeseen situations. The simulations show that the algorithm solves the problem of local minimum-inherent in the use of PFM-and it can be implemented in a real robot, since it fulfills the mentioned characteristics.
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8 páginas
URI: https://repositorio.escuelaing.edu.co/handle/001/2524
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