Publication: Implementación de una arquitectura de control híbrida para robots autónomos
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2011-07
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2011-07-29
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Abstract
La robótica es un campo de la informática que se encuentra muy de moda actualmente. Aunque los medios de comunicación nos muestran unos avances realmente impresionantes, la verdad es que es un terreno en el que no se ha profundizado demasiado, y en el que es complicado solucionar problemas que aparentemente son muy básicos. Este proyecto aborda el tema de la navegación básica de robots móviles autónomos, en concreto de un robot Pioneer 3-DX. Se trata de diseñar e implementar una arquitectura haciendo uso del paradigma híbrido de la robótica, que une los paradigmas deliberativo y reactivo, para asentar las bases de un marco de trabajo que permita dotar de comportamientos inteligentes a estos robots móviles. El diseño de la arquitectura busca la creación de este marco, que sea lo más modular, extensible e independiente de las aplicaciones cliente, para poder incorporar nuevas funcionalidades y convertirse en un proyecto de investigación que se alargue y utilice en el futuro, no limitándose a resolver únicamente el problema planteado inicialmente. __________________________________________________________________________________________________________________
Nowadays, one of the most famous and interesting fields in technological sciences is robotics. Mass media show incredible advances on this field. However, that doesn’t adjust to reality. This is a field which has not been deepened, and it’s very difficult to solve problems that they look relatively easy. This project deals with the problem of basic navigation in autonomous mobile robots, specifically a Pioneer 3-DX robot. The objective of the project is designing and developing a robot architecture, by using the hybrid paradigm in robotics. This architecture shall combine deliberative and reactive paradigms in order to establish a framework which allows providing mobile robots with intelligent behaviours. The hybrid architecture designed must create this framework, being as modular, extensible and client-application independent as possible, in order to provide new functionalities and become a researching project into the future, so it doesn’t just confine to solve the initial problem of basic navigation.
Nowadays, one of the most famous and interesting fields in technological sciences is robotics. Mass media show incredible advances on this field. However, that doesn’t adjust to reality. This is a field which has not been deepened, and it’s very difficult to solve problems that they look relatively easy. This project deals with the problem of basic navigation in autonomous mobile robots, specifically a Pioneer 3-DX robot. The objective of the project is designing and developing a robot architecture, by using the hybrid paradigm in robotics. This architecture shall combine deliberative and reactive paradigms in order to establish a framework which allows providing mobile robots with intelligent behaviours. The hybrid architecture designed must create this framework, being as modular, extensible and client-application independent as possible, in order to provide new functionalities and become a researching project into the future, so it doesn’t just confine to solve the initial problem of basic navigation.
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Robótica, Robots móviles, Arquitectura de software