Publication: Análisis de la tecnología de posicionamiento indoor aplicada a robots autónomos móviles
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2013-12
Defense date
2013-12-19
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Abstract
La creación del presente proyecto surge de la necesidad del Departamento de Sistemas y Automática de la Universidad Carlos III de disponer de un documento que recoja las diferentes tecnologías dedicadas al posicionamiento de robot autónomos móviles en interiores.
El propósito del documento es exponer de forma accesible pero rigurosa los aspectos clave de los sistemas de posicionamiento en interiores, sus usos actuales en múltiples entornos y las posibles evoluciones futuras de las diferentes tecnologías. Los principales contenidos cubiertos son:
- Principales tecnologías de posicionamiento: características, ventajas e inconvenientes.
- Estrategias y algoritmos usados en los sistemas de posicionamiento.
- Estado de los sistemas de posicionamiento en interiores en la actualidad, tanto comerciales como en fase de desarrollo.
De forma complementaria, se estudian conceptos relativos a la locomoción robótica, ya que pueden ser determinantes a la hora de analizar las estrategias de los robots autónomos móviles, y se presentan las principales tecnologías de sensores organizadas según su campo de aplicación.
Finalmente, se analizan los resultados y se elaboran conclusiones en función de los requerimientos iniciales del proyecto, valorando su adecuidad para las aplicaciones propuestas.
The making of this project emerges from the need of the Department of Systems and Automation at the University Carlos III to gather information in a survey about the different technologies related to the indoor positioning of self-sufficient mobile robots. The purpose of the project is to present the key aspects of the selected indoor positioning systems, their current usage in multiple surroundings and the possible future development of these different technologies in an accessible, yet rigorous way. The main content covered by the survey is: - Relevant positioning technologies: characteristics, benefits and disadvantages. - Strategies and algorithms applied by the positioning systems. - Present status of existing indoor positioning systems, considering both systems that are currently commercialized and systems in stage of development. To enrich the survey, it has been complemented by a study of concepts related to robotic locomotion, seeing that they can be decisive at the moment of analyzing the strategy of the autonomous mobile robots. Relevant sensor technologies are also presented, organized by the application area. Finally, the results are analyzed and the conclusions are made according to the requirements established in the initial phases of the project, considering the adequacy for the suggested applications.
The making of this project emerges from the need of the Department of Systems and Automation at the University Carlos III to gather information in a survey about the different technologies related to the indoor positioning of self-sufficient mobile robots. The purpose of the project is to present the key aspects of the selected indoor positioning systems, their current usage in multiple surroundings and the possible future development of these different technologies in an accessible, yet rigorous way. The main content covered by the survey is: - Relevant positioning technologies: characteristics, benefits and disadvantages. - Strategies and algorithms applied by the positioning systems. - Present status of existing indoor positioning systems, considering both systems that are currently commercialized and systems in stage of development. To enrich the survey, it has been complemented by a study of concepts related to robotic locomotion, seeing that they can be decisive at the moment of analyzing the strategy of the autonomous mobile robots. Relevant sensor technologies are also presented, organized by the application area. Finally, the results are analyzed and the conclusions are made according to the requirements established in the initial phases of the project, considering the adequacy for the suggested applications.
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Keywords
Robótica, Robótica móvil, Navegación indoor, Sistema de posicionamiento global, Robots autónomos móviles