Publication: Teleoperación de un robot móvil mediante percepción 3D
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2011-10
Defense date
2011-10-28
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Abstract
Hoy en día, si pensamos en informática, cualquier persona nos diría que es todo aquello que tiene que ver con los ordenadores, internet y los móviles, pero afortunadamente, la informática es un mundo vasto y extenso y no existe disciplina humana en la que no se utilice o se aplique alguna herramienta de tipo informático, pues supone un ahorro considerable en tiempo y esfuerzo, así como en errores. Dos de los campos que más llaman la atención es el de la robótica y el del videojuego, no ya por ser los más atractivos, sino por ser de los que más dinero generan, en concreto el de los videojuegos. La robótica aplicada a vehículos comenzó allí por los a˜nos 50 y hoy en día ha alcanzado un grado enorme de sofisticación, con la aparición de los primeros vehículos controlados autónomamente. La autonomía a la hora de gobernarse un vehículo es la nota predominante de la investigación hoy en día, pero hasta hace poco los vehículos robóticos no tripulados eran controlados a distancia, por lo que las tecnologías de comunicación inalámbrica cobran especial interés. El mundo del videojuego puede parecer extra˜namente relacionado con el tema propuesto, pero viene muy al uso pues es un dispositivo previsto inicialmente para jugar, el que será la piedra angular de este proyecto. El Kinect, supone una revoluci´on en el uso de escáneres 3D, pues pone a un precio muy asequible un hardware que de otra forma el gran público no habría tenido acceso, abriendo la línea a infinidad de proyectos de carácter personal, que no hacen otra cosa que mejorar y avanzar en el campo de la investigación. La visión por computador es otro campo muy ligado al de la robótica, utilizada para analizar el entorno que nos rodea, cuando el ser humano no está presente e incluso cuando lo está, proporcionándole información que este no es capaz de ver o percibir. Así pues, el objetivo principal será la búsqueda de una simbiosis, una síntesis de todas estas tecnologías, adentrándonos en sus problemas y dificultades para dar solución a un problema ya bien conocido, pero visto desde un punto de vista muy personal, puesto que intentaremos emular la conducción de un vehículo a escala de una forma original y divertida. __________________________________________________________________________________________________________________________________
Today, if we think about computing, anyone would say that is all that has to do with PC’s, internet and mobile, but fortunately, computing is a vast and extensive field and there is no human endeavor which did not apply any kind of computer technique, saving considerable time and effort, as well as errors. Two of the fields that attract the most attention is the robotics and video games, not being the most attractive, but those who attracts the major cash, specially video games. The robotics vehicles began back in the 50’s and today they have reached an enormous degree of sophistication, with the emergence of the first vehicles controlled autonomously. Nowadays, when it comes down to robotic vehicles, the autonomous control is the dominant note of the research, but until today, robotic vehicles were remote controlled, so that wireless communication technologies are of particular interest. The game world may seem oddly related to the theme, but it comes in handy to use a device originally intended to play, which will be the cornerstone of this project. Kinect, is a revolution in the use of 3D scanners, because it offers a very affordable hardware that otherwise current people would not have had access, making way for an infinity of personal projects and improving the field of research. Computer vision is closely linked to another field of robotics, used to analyze the environment around us, when the human being is not present and even when it is providing information that can not see or perceive. Thus, the main objective is the search for a symbiosis, a synthesis of all these technologies, entering their problems and difficulties to solve a problem as well known, but seen from a very personal point of view, since it attempts to emulate driving in an original and fun way.
Today, if we think about computing, anyone would say that is all that has to do with PC’s, internet and mobile, but fortunately, computing is a vast and extensive field and there is no human endeavor which did not apply any kind of computer technique, saving considerable time and effort, as well as errors. Two of the fields that attract the most attention is the robotics and video games, not being the most attractive, but those who attracts the major cash, specially video games. The robotics vehicles began back in the 50’s and today they have reached an enormous degree of sophistication, with the emergence of the first vehicles controlled autonomously. Nowadays, when it comes down to robotic vehicles, the autonomous control is the dominant note of the research, but until today, robotic vehicles were remote controlled, so that wireless communication technologies are of particular interest. The game world may seem oddly related to the theme, but it comes in handy to use a device originally intended to play, which will be the cornerstone of this project. Kinect, is a revolution in the use of 3D scanners, because it offers a very affordable hardware that otherwise current people would not have had access, making way for an infinity of personal projects and improving the field of research. Computer vision is closely linked to another field of robotics, used to analyze the environment around us, when the human being is not present and even when it is providing information that can not see or perceive. Thus, the main objective is the search for a symbiosis, a synthesis of all these technologies, entering their problems and difficulties to solve a problem as well known, but seen from a very personal point of view, since it attempts to emulate driving in an original and fun way.
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Keywords
Robótica, Robots móviles, Visión artificial, Videojuegos