Optimización de trayectorias mediante algoritmos bio-inspirados aplicado a robots móviles con percepción local

Abstract

In mobile robotics applications, path planning is a critical point, since the selection of the wrong path can lead to problems that affect the performance of the robot behavior such as loss of time, unnecessary energy expenditure, damage to the robot, among others. Likewise, in the field of service robotics, it is sought that the robot adapts to environments where it must interact with people unfamiliar with robotics topics, so it is intended that the robot be autonomous in its perception and processing of the information, since the addition of external sensors can pose a problem for the end user and discourage the use of this type of solution. For this the architectures with local perception are more suitable, this refers to the fact that the robot will have its own sensors to obtain information from the environment where it interacts. In social robotics, the mobile robot must move through previously known places, so it is possible that the robot can obtain prior information about the environment through maps, as well as using localization tools such as odometry. However, it is necessary to use techniques that allow you to obtain an optimal route in the face of different possible trajectories, as well as avoid obstacles or find a solution to unexpected inconveniences, such as the appearance of blockages in the previously obtained trajectory. In the following research project proposal, the use of bio-inspired techniques is proposed in order to design optimal trajectories for mobile robots with local perception. This implies that although the robot may have a map of the environment where it must move, it must have its own sensors for location purposes. Likewise, the robot must evade obstacles and plan a new path in case of problems in the work environment.