Técnicas de navegación para un robot móvil utilizando sistemas de razonamiento espacial

[EN] When we integrate autonomous mobile robots in our society, the challenge is to get that are naturally present in the interior of the buildings, so that they can perform tasks such as guiding visitors, distributing medicines in hospitals, monitor security of a building, disabled or even attend more complex activities. These activities not only fall within the autonomous robotics but also in the field of ambient intelligence, whose ultimate goal is the development of intelligent systems seamlessly integrated in the environment and the ability to assist humans. In addition, service robots are often subject of interest to large corporations and government institutions today offer property management systems (\ textit {facility management}) where they store all the data related to their facilities. It would therefore be a need to integrate these systems robots, as more and more robots are emerging as a key resource. Thus, in a system of ambient intelligence as a property management system, a robot must be reachable at all times. Thus it can be available if needed, just like any other resource of a building (medicine, fire extinguishers, employees). This implies that a robot can be an active resource and available in either of these two systems provided you have the ability to remain located in their surroundings. In addition, the need for localization becomes a robot not only a resource but also spatial information user stored in the system, since to estimate the position is essential to have a map where located. One of the main shortcomings of the systems of traditional property management is that they have a very limited capacity for spatial analysis. To address this need, have recently begun to incorporate Geographic Information Systems (GIS) in the management of real estate, which have a capacity of highly advanced spatial analysis. They are, for example, able to handle the data while space of a building and relate to their situation within a campus, a city, a nation or even worldwide. Another even more important is that they can manage and store information symbolically (doors, tables, or windows), which makes them a useful tool in order to give robots better spatial awareness, and generates one of the main needs of this thesis: the symbolic information extraction and their relative location from sensory information.

Author

• Fernández Caramés, Carlos

• Tesis y disertaciones académicas
• Universidad de Salamanca (España)
• Academic dissertations
• Robótica
• Robotics
• Visión artificial
• Sistemas en tiempo real
• Artificial vision

Identifier

hdl:10366/121352

OAI identifier oai:identifier

oai:gredos.usal.es:10366/121352