Global navigation approach for assistant robot
Context: This work shows a novel navigation approach based on images for an assistant hybrid robot composed by a humanoid and an omnidirectional platform. Method: This approach introduces a complex space analysis, using Zeros and Poles attraction-repulsion principle. In order to perform the algorith...
- Autores:
-
Martínez Santa, Fernando
Arbulú, Mario Ricardo
Orjuela, Santiago
- Tipo de recurso:
- Article of investigation
- Fecha de publicación:
- 2016
- Institución:
- Universidad de Cundinamarca
- Repositorio:
- Repositorio UdeC
- Idioma:
- eng
- OAI Identifier:
- oai:repositorio.cun.edu.co:cun/4360
- Acceso en línea:
- https://repositorio.cun.edu.co/handle/cun/4360
- Palabra clave:
- Ingeniería y operaciones afines
Navigation
Path planning
Mobile robot
Root Locus
Omnidirectional platform
- Rights
- closedAccess
- License
- http://purl.org/coar/access_right/c_14cb
| Summary: | Context: This work shows a novel navigation approach based on images for an assistant hybrid robot composed by a humanoid and an omnidirectional platform. Method: This approach introduces a complex space analysis, using Zeros and Poles attraction-repulsion principle. In order to perform the algorithm, an integrated system is developed; this system includes: an external camera to take a global navigation surface view, the assistant robot, and communication devices. Navigation is supported by some digital image processing algorithms and performed using the root location technique. Results: An integrated system of global navigation with external sensors was successfully implemented for the proposed hybrid robot. Conclusions: Some simulation and experimental tests will be discussed in order to validate this proposal and the whole system. Additionally, some suggestions for future research are proposed. |
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