1. Implementación y prueba de algoritmos para navegación en una plataforma robótica de configuración diferencial.
- Author
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Angulo Sibaja, Gabriel and Marín Paniagua, Leonardo José
- Subjects
- *
MOTION capture (Cinematography) , *TRACKING algorithms , *MOTION capture (Human mechanics) , *ROBOTS , *ALGORITHMS - Abstract
In this work, autonomous navigation algorithms are implemented using specialized robotics tools known as Robot Operating System (ROS). The selected algorithms have been implemented in the high-level language Python, and validation tests are carried out in a real differential robot built at the laboratory CERLab. The main contribution is the implementation of a mixture of behaviors between the Pure Pursuit trajectory tracking algorithm and the Braitenberg obstacle avoidance algorithm, applied in simulations and to a differential robot. From the simulations and validation tests conducted, reliable performance is observed both for trajectory following and obstacle avoidance, according to the measurements executed with a motion capture system, showing satisfactory trajectory following in square and circular trajectories, as well as in the fixed obstacle avoidance in the test arena. [ABSTRACT FROM AUTHOR]
- Published
- 2024
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