Robot guía para laboratorios de docentes.
Fecha
2021-07-02
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Jaén: Universidad de Jaén
Resumen
En las últimas décadas los seres humanos se han dedicado a la creación y desarrollo de diferentes máquinas capaces de realizar diferentes tareas con fines diversos; los robots. Cada vez se les otorgan más capacidades similares a las de los humanos como la posibilidad de extraer información del entorno e interpretarla para tomar decisiones. Por lo tanto en este trabajo se muestra el estudio y desarrollo de un programa robótico para la navegación autónoma del robot PMB-2 utilizando el sistema operativo ROS, así como la capacidad de describir el entorno y entablar una conversación simple con el usuario por medio de una interfaz gráfica que simule el movimiento de una cara. Se presenta una breve descripción teórica de ROS, de los algoritmos a utilizar para la navegación (método Monte Carlo para localización, método de aproximación de ventana para generación de rutas, etc), así como los pasos y las pruebas realizadas.
In the last decades, humans have created and developed different machines capable of performing different tasks for different purposes; the robots. Over time, they have been given human-like capabilities, such as the ability to extract information from the environment and interpret it to make decisions. Therefore, this project presents the study and development of a robotic program for the autonomous navigation of the PMB-2 robot using ROS as operating system, as well as the ability to describe the environment and establish a simple conversation with the user through an interface that simulates the movement of a face. It’s also presented a brief theoretical description of ROS, navigation algorithms (Monte Carlo method for location, Dynamic Window Approach method for route generation, etc.), as well as the steps and tests implemented to achieve the main goal.
In the last decades, humans have created and developed different machines capable of performing different tasks for different purposes; the robots. Over time, they have been given human-like capabilities, such as the ability to extract information from the environment and interpret it to make decisions. Therefore, this project presents the study and development of a robotic program for the autonomous navigation of the PMB-2 robot using ROS as operating system, as well as the ability to describe the environment and establish a simple conversation with the user through an interface that simulates the movement of a face. It’s also presented a brief theoretical description of ROS, navigation algorithms (Monte Carlo method for location, Dynamic Window Approach method for route generation, etc.), as well as the steps and tests implemented to achieve the main goal.