Diseño de una estrategia para la planeación de rutas de navegación autónoma de un robot móvil en entornos interiores usando un algoritmo de aprendizaje automático

dc.contributorJimenez Builes, Jovani Alberto
dc.contributorAcosta Amaya, Gustavo
dc.contributorGIDIA: Grupo de Investigación y Desarrollo en Inteligencia Artificial
dc.creatorRamírez Bedoya, Diego León
dc.date.accessioned2021-01-18T15:51:17Z
dc.date.accessioned2022-09-21T17:11:49Z
dc.date.available2021-01-18T15:51:17Z
dc.date.available2022-09-21T17:11:49Z
dc.date.created2021-01-18T15:51:17Z
dc.date.issued2020-10-09
dc.identifierRamírez, D. (2020) Diseño de una estrategia para la planeación de rutas de navegación autónoma de un robot móvil en entornos interiores usando un algoritmo de aprendizaje automático. Tesis de maestría en ingeniería de sistemas. Universidad Nacional de Colombia.
dc.identifierhttps://repositorio.unal.edu.co/handle/unal/78793
dc.identifier.urihttp://repositorioslatinoamericanos.uchile.cl/handle/2250/3398737
dc.description.abstractThe problem of autonomous robot navigation in internal environments must overcome various difficulties such as the dimensionality of the data, the computational cost and the possible presence of mobile objects. This thesis is oriented to the design of a planning strategy of routes for autonomous navigation of robots in interior environments based on automatic learning, for which it characterizes some strategies that the literature reports, The DQN machine learning algorithm is specified, to be implemented on the Turtlebot robotic platform of the Gazebo simulator. In addition, a series of Experiments changing the parameters of the algorithm to validate the strategy that shows how the robotic platform through the exploration of the environment and the subsequent exploitation of knowledge makes effective route planning. Video of Experiment can be found at https://youtu.be/5ehdh-BvY7E.
dc.description.abstractEl problema de la navegación autónoma de los robots en entornos internos debe superar varias dificultades como la dimensionalidad de los datos, el costo computacional y la posible presencia de objetos móviles. Esta tesis se orienta al diseño de una estrategia de planeación de rutas para la navegación autónoma de robots en entornos interiores con base en el aprendizaje automático. Para lo cual se caracteriza algunas estrategias que reporta la literatura, se especifica el algoritmo de aprendizaje automático DQN, para luego ser implementado en la plataforma robótica Turtlebot del simulador Gazebo. Además, se realizó una serie de experimentos cambiando los parámetros del algoritmo para hacer la validación de la estrategia que muestra como la plataforma robótica por medio de la exploración del ambiente y la posterior explotación de conocimiento hace una planeación de la ruta eficaz. Vídeo del experimento puede ser encontrado en https://youtu.be/5ehdh-BvY7E.
dc.languagespa
dc.publisherMedellín - Minas - Maestría en Ingeniería - Ingeniería de Sistemas
dc.publisherUniversidad Nacional de Colombia - Sede Medellín
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dc.rightsReconocimiento 4.0 Internacional
dc.rightsAcceso abierto
dc.rightshttp://creativecommons.org/licenses/by/4.0/
dc.rightsinfo:eu-repo/semantics/openAccess
dc.rightsDerechos reservados - Universidad Nacional de Colombia
dc.titleDiseño de una estrategia para la planeación de rutas de navegación autónoma de un robot móvil en entornos interiores usando un algoritmo de aprendizaje automático
dc.typeOtros


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