Publication: Modelado de zonas cruzables en entornos exteriores para robots móviles
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2002
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2002-07-01
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Abstract
El desarrollo de nuevas aplicaciones en el campo de la robótica móvil, tales como la seguridad civil o la exploración planetaria, están abriendo nuevas áreas de interés que se centran en el trabajo de robots en entornos exteriores. En este tipo de entornos se hace patente la necesidad de un sistema sensorial robusto, capaz de obtener toda la información necesaria.
Esta información, enel caso más general, se traduce en la construcción de un mapa que permite al robot saber dónde se encuentra y hacia dónde puede ir. No existe un modelo ideal, la elección del modelo siempre dependerá de las características del robot, de las del entorno y de la tarea que éste vaya a realizar.
En la presente tesis, se ha desarrollado un algoritmo de modelado del entorno, basado en diagramas de Voroni, que representa de forma reducida y simple el entorno percibido por un telémetro láser tridimensional. El modelo final, utiliza un modelo tridimensional de cruzabilidad previo. Los desarrollos de diferentes metodologías para la obtención del modelo de cruzabilidad se presentan también en la tesis. Este modelo de zonas cruzables se obtiene a partir de las características del terreno y del robot que va a evolucionar en él. La discretización del entorno y la utilización de técnicas de visión artificial para la simplificación de los modelos también se lleva a cabo. Todo el desarrollo se encamina a la obtención de un modelo global que representa de manera topológica, un entorno exterior de grandes dimensiones. El modelo es sencillo, reducido y puede obtenerse en tiempo real.
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The development of new applications on the mobile robotics fleid such as civil security, planetary exploration or fleid service robotics is opening new research areas for robots, working in outdoor environments. In this type of environments, the need of a robust sensor system, which supplies the robot al! the important information about the environment, is very important to fulfihi the commanded task. In general, this information is transformed in an environment model, that gives the robot the knowledge about its position or the place where it must go. In this thesis, an outdoor environment model, based on Voronoi diagram, has been developed. The map represents, in a simple and reduced way, the environment sensed by a three-dimensional scanner laser. The final model uses a previous three-dimensional traversability map. Different methodologies to obtain this model are also developed. The traversable regions are obtained with the terrain and the robot characteristics. The environment digitalization and the use of artificial vision technics, for the model simplification, are also carried out. The present work leads to the obtention of a global model which represents, in a topological way, a large outdoor environment. The mode! is simple, reduced, and can be calculated in real-time.
The development of new applications on the mobile robotics fleid such as civil security, planetary exploration or fleid service robotics is opening new research areas for robots, working in outdoor environments. In this type of environments, the need of a robust sensor system, which supplies the robot al! the important information about the environment, is very important to fulfihi the commanded task. In general, this information is transformed in an environment model, that gives the robot the knowledge about its position or the place where it must go. In this thesis, an outdoor environment model, based on Voronoi diagram, has been developed. The map represents, in a simple and reduced way, the environment sensed by a three-dimensional scanner laser. The final model uses a previous three-dimensional traversability map. Different methodologies to obtain this model are also developed. The traversable regions are obtained with the terrain and the robot characteristics. The environment digitalization and the use of artificial vision technics, for the model simplification, are also carried out. The present work leads to the obtention of a global model which represents, in a topological way, a large outdoor environment. The mode! is simple, reduced, and can be calculated in real-time.
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Robótica