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(AEBO)-algoritmo bioinspirado de evasión de obstáculos
dc.contributor.author | Ramos Acosta, Diego Alonso | |
dc.contributor.author | Susa Rincón, José Luis | |
dc.date.accessioned | 2023-05-19T20:39:53Z | |
dc.date.available | 2023-05-19T20:39:53Z | |
dc.date.issued | 2009 | |
dc.identifier.issn | 0123-921X | spa |
dc.identifier.uri | https://repositorio.escuelaing.edu.co/handle/001/2353 | |
dc.description.abstract | 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. | spa |
dc.description.abstract | This paper presents the development, testing and results of bioinspired algorithm for obstacle avoidance - (ABEO). The objective of this paper reveals the results of research's purpose to develop an algorithm that would allow a mobile robot to navigate autonomously, to achieve a goal avoiding obstacles in tis path. The requirements for the design of the algorithm were: high-speed response, low consumption of hardware resources and capacity to respond to unforeseen situations. The proof of the algorithm is perfomed in a simulated environment with a robot that use only four distance sensors, with characteristics similar to a real infrared sensors instead of twenty-four as in other methods like obstacle avoidance. The tests proved the reliability of the method, it was noted that no predetermined situations, such as new obstacles in the environment and measurement errors of up to 50% the robot reached the goal, while dodging obstacles. | eng |
dc.format.extent | 11 páginas | spa |
dc.format.mimetype | application/pdf | spa |
dc.language.iso | spa | spa |
dc.publisher | Universidad Distrital Francisco José de Caldas | spa |
dc.rights.uri | https://creativecommons.org/licenses/by-nc-nd/4.0/ | spa |
dc.source | https://revistas.udistrital.edu.co/index.php/Tecnura/article/view/6667 | spa |
dc.title | (AEBO)-algoritmo bioinspirado de evasión de obstáculos | spa |
dc.title.alternative | (ABEO) algorithm for obstacle avoidance bioinspired | eng |
dc.type | Artículo de revista | spa |
dc.type.version | info:eu-repo/semantics/publishedVersion | spa |
oaire.accessrights | http://purl.org/coar/access_right/c_abf2 | spa |
oaire.version | http://purl.org/coar/version/c_970fb48d4fbd8a85 | spa |
dc.contributor.researchgroup | Grupo de Investigación Ecitrónica | spa |
dc.identifier.doi | https://doi.org/10.14483/22487638.6667 | |
dc.identifier.eissn | 2248-7638 | spa |
dc.identifier.url | https://revistas.udistrital.edu.co/index.php/Tecnura/article/view/6667 | |
dc.publisher.place | Colombia | spa |
dc.relation.citationendpage | 48 | spa |
dc.relation.citationissue | 25 | spa |
dc.relation.citationstartpage | 38 | spa |
dc.relation.citationvolume | 13 | spa |
dc.relation.indexed | N/A | spa |
dc.relation.ispartofjournal | Tecnura | spa |
dc.relation.references | O. Khatib. "Real-time obstacle avoidance for manipulators and mobile robots". IEEE International Conference on Robotics and Automation, 1985. | spa |
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dc.relation.references | H.P Moravee and A. Elfes. "High resolution maps from wide angle sonar". IEEE Conference on Robotics and Automation, Washington D.C., 1985, pp. 116-121. | spa |
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dc.relation.references | J. Borenstein and Y. Koren. "The vector field histogram - fast obstacle avoidance for mobile robots". IEEE Journal of Robotics and Automation, vol. 7, no. 3, June 1991, pp. 278-288. | spa |
dc.relation.references | I. Ulrich and Borenstein. "VFH+: reliable obstacle avoidance for fast mobile robots". Proceedings of the 1998 IEEE International Conference on Robotics and Automation. Leuven, Belgium, May 16 - 21, 1998, pp. 1572-1577. | spa |
dc.relation.references | I. Ulrich and Borenstein. "VFH*: local obstacle avoidance with look-head verification". 2000. IEEE International Conference on Robotics and Automation San Francisco, CA, April 24-28, 2000, pp. 2505-2511. | spa |
dc.relation.references | P. Fiorini and Shillerz. "Motion planning in dynamic environments". Int. Journal of Robotics Research, vol. 17, no.7, 1998, pp. 760-772. | spa |
dc.relation.references | M. Beckre and D. Meirelles, Carolina and Perdigão M., Weber. "Obstacle avoidance procedure for mobile robots". Congreso Internacional de Ingeniería Mecánica edición 18, 2005. | spa |
dc.relation.references | D. Filliat. "Interactive learning of visual topological navigation". ENSTA - EI, Paris-Francia, 2008. | spa |
dc.rights.accessrights | info:eu-repo/semantics/openAccess | spa |
dc.rights.creativecommons | Atribución-NoComercial-SinDerivadas 4.0 Internacional (CC BY-NC-ND 4.0) | spa |
dc.subject.armarc | Algoritmos computacionales | spa |
dc.subject.armarc | Computer algorithms | eng |
dc.subject.armarc | Robots móviles | |
dc.subject.armarc | Mobile robots | eng |
dc.subject.proposal | Robótica móvil | spa |
dc.subject.proposal | Evasión de obstáculos | spa |
dc.subject.proposal | Bioinspirado | spa |
dc.subject.proposal | Algoritmo | spa |
dc.subject.proposal | Mobile robotic | eng |
dc.subject.proposal | Obstacle avoidance | eng |
dc.subject.proposal | Bioinspired | eng |
dc.subject.proposal | Algorithm | eng |
dc.type.coar | http://purl.org/coar/resource_type/c_2df8fbb1 | 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 |
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AB - Ecitrónica [122]
Clasificación: A - Convocatoria 2018