bachelorThesis
Desarrollo de un vehículo autónomo terrestre para navegación óptima en ambientes cerrados
Fecha
2017Autor
Calle Sarmiento, Danilo Abraham
Sosoranga Maldonado, Christian David
Institución
Resumen
Nowadays, robotics is an active research field devoted to the development of partially or complettely autononomous vehicles, integrating artificial intelligence, artificial vision, obstacle evasion algorithms and path planning algorithms. This research prsents details on the implementation of an autonomous vehicle, using the DaNI robot based on sbRIO-9631 card. The programming plataform is LabVIEW, which includes modules and tools for robotics and digital image processing (DIP): LabVIEW Robotics, LabVIEW FPGA, LabVIEW Real-Time, LabVIEW Vision Development, etc. The path planning algorithms are implemented In Matlab. The main techniques are studied in this document are the sampling-based, and space-based methods. The sample-based methods are represented by the Rapidly Exploring Random Tree (RRT), and Bidirectional Exploring Random Tree (B-RRT) algorithms; on the other hand, the space-based methods are represented by the A star (A^*), Fast Marching Method (FMM) and Fast Marching Square (〖FMM〗^2).) algorithms. Finally, the autonomous DaNI robot is simulated on 3D virtual environments, and also its operation is evaluated in real environments.