Implementación de un robot móvil prototipo para la navegación autónoma reactiva entre surcos de un cultivo agrícola
Academic approaches to mobile robotics are subject to continuous evolution to autonomous navigation and present important reactive and deliberative techniques.[1] Autonomous navigation is defined as the ability to go from one point in space to another while avoiding obstacles and entails a complex p...
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| Main Authors: | , , |
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| Format: | Trabajo de grado (Pregrado y/o Especialización) |
| Language: | Español |
| Published: |
Universidad Antonio Nariño
2024
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| Subjects: | |
| Online Access: | https://repositorio.uan.edu.co/handle/123456789/11806 |
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| Summary: | Academic approaches to mobile robotics are subject to continuous evolution to
autonomous navigation and present important reactive and deliberative techniques.[1]
Autonomous navigation is defined as the ability to go from one point in space to another
while avoiding obstacles and entails a complex problem for two reasons: the uncertainty inherent
in the robot's sensors and the fact that the robot often has to explore an environment a stranger. As
a rule, we do not have reliable maps or data to navigate the roads safely [2].
In particular, the automated navigation of mobile robots that apply reactive techniques is
facilitated by the low computational costs involved, which provides for the incorporation of
perception methods and control system techniques.
Consequently, this document presents the results obtained after approaching the study of
the problem of autonomously navigating between rows of an agricultural crop, such that to achieve
this, a closed-loop control system is applied, which governs its direction while moving. A chassis
is used as a base, having a caterpillar-type locomotion system, which is driven by direct current
(DC) motors. For the perception system, a LIDAR (Light Detection and Ranging) sensor and an
IMU (Inertial Measurement Unit) sensor were used. Everything presented is part of a degree
project to opt for the title of Electronic Engineering |
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