Aplicación de técnicas evolutivas y visión por computadora para navegación autónoma de robots utilizando un TurtleBot 2

• Yadira Quiñonez ^[1] ; Iván Tostado ^[1] ; Carlos Burgueño ^[1]
  1. [1] Universidad Autónoma de Sinaloa

     Universidad Autónoma de Sinaloa

     México

     
• Localización: RISTI: Revista Ibérica de Sistemas e Tecnologias de Informação, ISSN-e 1646-9895, Nº. Extra 3, 2015, págs. 93-105
• Idioma: español
• DOI: 10.17013/risti.e3.93-105
• Títulos paralelos:
  • Application of evolutionary techniques and computer vision for the autonomous robots navigation using a TurtleBot 2
• Enlaces
  • Texto completo (pdf)
• Resumen
  • español

    La navegación autónoma de robots es uno de los principales problemas entre los robots debido a su complejidad y dinamismo, ya que depende de las condiciones ambientales como la interacción entre ellos mismo, personas o cualquier cambio sin previo aviso en el entorno. En este trabajo, hemos propuesto la aplicación de técnicas evolutivas para la navegación autónoma de robots. El objetivo de este artículo es desarrollar el control de movimiento de un robot para alcanzar una meta en un entorno desconocido, donde los comportamientos de bajo nivel son obtenidos a través de redes de neuronas artificiales y posteriormente han sido evolucionados mediante algoritmos evolutivos. Para este propósito ROS y el TurtleBot 2 han sido utilizados. El documento finaliza con una discusión crítica de los resultados experimentales.

  • English

    The autonomous navigation of robots is one of the main problems among the robots due to its complexity and dynamism as it depends on environmental conditions as the interaction between themselves, persons or any unannounced change in the environment. In this work, we have proposed the application of evolutionary techniques for autonomous navigation of robots. The objective of this work is to develop the motion control for a robot to reach a goal in an unknown environment, where the low level behaviors are obtained through artificial neural networks and subsequently have been evolved by evolutionary algorithms. For this purpose ROS and robot TurtleBot 2 are used. The paper ends with a critical discussion of the experimental results.

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