Planning under uncertainty using a dynamical systems approach for autonomous vehicles

ilustraciones, fotografías, graficas

Autores:
Bayuelo Sierra, Alfredo José
Tipo de recurso:
Doctoral thesis
Fecha de publicación:
2022
Institución:
Universidad Nacional de Colombia
Repositorio:
Universidad Nacional de Colombia
Idioma:
eng
OAI Identifier:
oai:repositorio.unal.edu.co:unal/81329
Acceso en línea:
https://repositorio.unal.edu.co/handle/unal/81329
https://repositorio.unal.edu.co/
Palabra clave:
620 - Ingeniería y operaciones afines::629 - Otras ramas de la ingeniería
000 - Ciencias de la computación, información y obras generales::006 - Métodos especiales de computación
INGENIERIA-APARATOS E INSTRUMENTOS
Engineering instruments
Motion Planning
Sim-to-real
Dynamical Systems
SLAM
Aquatic Vehicles
Planeación de movimiento
Simuladores
Sistemas dinámicos
Vehículos acuáticos
SLAM
Rights
openAccess
License
Reconocimiento 4.0 Internacional
id UNACIONAL2_b300daa799302830270f463467218c9b
oai_identifier_str oai:repositorio.unal.edu.co:unal/81329
network_acronym_str UNACIONAL2
network_name_str Universidad Nacional de Colombia
repository_id_str
dc.title.eng.fl_str_mv Planning under uncertainty using a dynamical systems approach for autonomous vehicles
dc.title.translated.spa.fl_str_mv Planeación bajo incertidumbre usando una aproximación de los sistemas dinámicos para vehículos autónomos
title Planning under uncertainty using a dynamical systems approach for autonomous vehicles
spellingShingle Planning under uncertainty using a dynamical systems approach for autonomous vehicles
620 - Ingeniería y operaciones afines::629 - Otras ramas de la ingeniería
000 - Ciencias de la computación, información y obras generales::006 - Métodos especiales de computación
INGENIERIA-APARATOS E INSTRUMENTOS
Engineering instruments
Motion Planning
Sim-to-real
Dynamical Systems
SLAM
Aquatic Vehicles
Planeación de movimiento
Simuladores
Sistemas dinámicos
Vehículos acuáticos
SLAM
title_short Planning under uncertainty using a dynamical systems approach for autonomous vehicles
title_full Planning under uncertainty using a dynamical systems approach for autonomous vehicles
title_fullStr Planning under uncertainty using a dynamical systems approach for autonomous vehicles
title_full_unstemmed Planning under uncertainty using a dynamical systems approach for autonomous vehicles
title_sort Planning under uncertainty using a dynamical systems approach for autonomous vehicles
dc.creator.fl_str_mv Bayuelo Sierra, Alfredo José
dc.contributor.advisor.none.fl_str_mv Niño Vásquez, Luis Fernando
Bobadilla, Jaime Leonardo
dc.contributor.author.none.fl_str_mv Bayuelo Sierra, Alfredo José
dc.contributor.researchgroup.spa.fl_str_mv laboratorio de Investigación en Sistemas Inteligentes Lisi
dc.subject.ddc.spa.fl_str_mv 620 - Ingeniería y operaciones afines::629 - Otras ramas de la ingeniería
000 - Ciencias de la computación, información y obras generales::006 - Métodos especiales de computación
topic 620 - Ingeniería y operaciones afines::629 - Otras ramas de la ingeniería
000 - Ciencias de la computación, información y obras generales::006 - Métodos especiales de computación
INGENIERIA-APARATOS E INSTRUMENTOS
Engineering instruments
Motion Planning
Sim-to-real
Dynamical Systems
SLAM
Aquatic Vehicles
Planeación de movimiento
Simuladores
Sistemas dinámicos
Vehículos acuáticos
SLAM
dc.subject.lemb.spa.fl_str_mv INGENIERIA-APARATOS E INSTRUMENTOS
dc.subject.lemb.eng.fl_str_mv Engineering instruments
dc.subject.proposal.eng.fl_str_mv Motion Planning
Sim-to-real
Dynamical Systems
SLAM
Aquatic Vehicles
dc.subject.proposal.spa.fl_str_mv Planeación de movimiento
Simuladores
Sistemas dinámicos
Vehículos acuáticos
dc.subject.proposal.none.fl_str_mv SLAM
description ilustraciones, fotografías, graficas
publishDate 2022
dc.date.accessioned.none.fl_str_mv 2022-03-23T18:54:29Z
dc.date.available.none.fl_str_mv 2022-03-23T18:54:29Z
dc.date.issued.none.fl_str_mv 2022-03
dc.type.spa.fl_str_mv Trabajo de grado - Doctorado
dc.type.driver.spa.fl_str_mv info:eu-repo/semantics/doctoralThesis
dc.type.version.spa.fl_str_mv info:eu-repo/semantics/acceptedVersion
dc.type.coar.spa.fl_str_mv http://purl.org/coar/resource_type/c_db06
dc.type.content.spa.fl_str_mv Text
dc.type.redcol.spa.fl_str_mv http://purl.org/redcol/resource_type/TD
format http://purl.org/coar/resource_type/c_db06
status_str acceptedVersion
dc.identifier.uri.none.fl_str_mv https://repositorio.unal.edu.co/handle/unal/81329
dc.identifier.instname.spa.fl_str_mv Universidad Nacional de Colombia
dc.identifier.reponame.spa.fl_str_mv Repositorio Institucional Universidad Nacional de Colombia
dc.identifier.repourl.spa.fl_str_mv https://repositorio.unal.edu.co/
url https://repositorio.unal.edu.co/handle/unal/81329
https://repositorio.unal.edu.co/
identifier_str_mv Universidad Nacional de Colombia
Repositorio Institucional Universidad Nacional de Colombia
dc.language.iso.spa.fl_str_mv eng
language eng
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spelling Reconocimiento 4.0 Internacionalhttp://creativecommons.org/licenses/by/4.0/info:eu-repo/semantics/openAccesshttp://purl.org/coar/access_right/c_abf2Niño Vásquez, Luis Fernandobc784b82735e16fe53653c3f5c8f3bbeBobadilla, Jaime Leonardo0e5e283c387546a7796a5941f4bef4b0Bayuelo Sierra, Alfredo Joséac3414f00b865a51bb4f0771e10d0adflaboratorio de Investigación en Sistemas Inteligentes Lisi2022-03-23T18:54:29Z2022-03-23T18:54:29Z2022-03https://repositorio.unal.edu.co/handle/unal/81329Universidad Nacional de ColombiaRepositorio Institucional Universidad Nacional de Colombiahttps://repositorio.unal.edu.co/ilustraciones, fotografías, graficasLa planeación del movimiento para sistemas robóticos (o simplemente robots, o vehículos) es un problema bastante bien estudiado. Resultados significativos se han obtenido en la literatura y se han llevado a la práctica en la industria y otros usos comerciales. Sin embargo, altos costos computacionales y simplificaciones hechas en la formulación de los problemas presentan retos abiertos y oportunidades de investigación. Este trabajo presenta estrategias para ayudar en la solución del problema de navegación, y otros relacionados, en cuatro escenarios: Cuando no se conoce el Modelo que describe el vehículo, No se conoce la posición ni orientación del vehículo, no se conoce el Mapa del lugar, Y cuando no se conoce la intención (aliado/adversario) de otros robots en el ambiente. Primero, se presenta una estrategia que usa ambientes simulados realísticos para superar la falta de modelo del vehículo o las dificulatades que conlleven su cálculo. Los ambientes simulados se han beneficiado de las mejoras en los sistemas computarizados de la última década; por ejempo, los juegos de computadora han progresivamente mostrado ambientes más y más realistas, y estos han sido ya usados para entrenar robots al mostrarle a los sensores del robot esta información como cierta, de tal forma que se logra que los robots aprendan de secuencias del juego, de esta misma forma, en este trabajo se usan los simuladores para ayudar a resolver el problema de la navegación. También se presenta un esquema de planeación basado en la retro alimentación para un sencillo robot que rebota, mostrando cómo dicho robot puede navegar ambientes complejos sin saber su posición en todo momento. Por supuesto el mapa debe ser conocido para crear tal esquema de planeación, cuando no se conoce el mapa, la estrategia conocida como Localización y Mapeo Simultaneos, puede usarse para determinar el mapa alrededor y encontrarse en el mismo. Finalmente, cuando se consideran robots más simples, puede llegar a ser necesario usar más de un robot para cumplir una tarea, y puede que en el ambiente hayan robots adversarios, por lo tanto, se presenta una estrategia que permite comunicarse para evitar colisiones que mantiene la privacidad al mismo tiempo. (Texto tomado de la fuente)The problem of Motion Planning for Robotic Systems (in this work: robot or vehicles) has been well studied. Some significant outcomes have been accomplished, and good results demonstrated in practical situations in industry and other commercial uses. Nevertheless, high computational cost and several assumptions on the problems present open challenges and opportunities for research. This work presents strategies to help in the solution of the navigation and other related problems for four different scenarios: unknown vehicle model, unknown positions/orientation of the vehicle, unknown map to navigate and unknown intention of other vehicles in the same environment. First, realistic simulation is used to overcome the lack of a model, or the difficulties to calculate it. Simulated environments have taken advantage of the improvements in computer systems in the last decades; for example, computer games have progressively shown more realistic environments, these environments have already been used to train models by fooling the sensors of robots and making them to learn from gameplays, in this fashion, simulators are used here to help solving the navigation problem. It is also presented here a feedback-based motion planer for a simple bouncing robot, showing how it can navigate a complex world even if the current position is not know all the time. Of course the map must be known before hand to create such a plan, for the case where the map is not known a priori, a strategy for simultaneous localization and mapping is presented here to determine the world around and the position of the vehicle in such map. Finally, when considering simpler robots, it might be necessary to use multiple of them to succeed at a particular task, and they might also be in the presence of a third party robot, hence, a strategy is presented here to communicate and avoid collisions while preserving privacy.DoctoradoDoctor en IngenieríaMotion Planning - Dynamic Non-Linear Systems - Robotics Algorithmsxxi, 105 páginasapplication/pdfengUniversidad Nacional de ColombiaBogotá - Ingeniería - Doctorado en Ingeniería - Sistemas y ComputaciónDepartamento de Ingeniería de Sistemas e IndustrialFacultad de IngenieríaBogotá, ColombiaUniversidad Nacional de Colombia - Sede Bogotá620 - Ingeniería y operaciones afines::629 - Otras ramas de la ingeniería000 - Ciencias de la computación, información y obras generales::006 - Métodos especiales de computaciónINGENIERIA-APARATOS E INSTRUMENTOSEngineering instrumentsMotion PlanningSim-to-realDynamical SystemsSLAMAquatic VehiclesPlaneación de movimientoSimuladoresSistemas dinámicosVehículos acuáticosSLAMPlanning under uncertainty using a dynamical systems approach for autonomous vehiclesPlaneación bajo incertidumbre usando una aproximación de los sistemas dinámicos para vehículos autónomosTrabajo de grado - Doctoradoinfo:eu-repo/semantics/doctoralThesisinfo:eu-repo/semantics/acceptedVersionhttp://purl.org/coar/resource_type/c_db06Texthttp://purl.org/redcol/resource_type/TDTauhidul Alam, Leonardo Bobadilla, and Dylan A. 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International Journal of Robotics Research, 2018.EstudiantesInvestigadoresMaestrosPúblico generalORIGINAL80882583.2022.pdf80882583.2022.pdfTesis de Doctorado en Ingeniería - Ingeniería de Sistemas y Computaciónapplication/pdf7501264https://repositorio.unal.edu.co/bitstream/unal/81329/3/80882583.2022.pdf437e79880782829bcf0be050cc53a398MD53LICENSElicense.txtlicense.txttext/plain; charset=utf-84074https://repositorio.unal.edu.co/bitstream/unal/81329/4/license.txt8153f7789df02f0a4c9e079953658ab2MD54THUMBNAIL80882583.2022.pdf.jpg80882583.2022.pdf.jpgGenerated Thumbnailimage/jpeg4451https://repositorio.unal.edu.co/bitstream/unal/81329/5/80882583.2022.pdf.jpg285297708c0799f5c3b0f0ad52352d2dMD55unal/81329oai:repositorio.unal.edu.co:unal/813292023-08-03 23:04:11.39Repositorio Institucional Universidad Nacional de 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EVESURBIFBPUiBMQSBTRUNSRVRBUsONQSBHRU5FUkFMLiAqTEEgVEVTSVMgQSBQVUJMSUNBUiBERUJFIFNFUiBMQSBWRVJTScOTTiBGSU5BTCBBUFJPQkFEQS4gCgpBbCBoYWNlciBjbGljIGVuIGVsIHNpZ3VpZW50ZSBib3TDs24sIHVzdGVkIGluZGljYSBxdWUgZXN0w6EgZGUgYWN1ZXJkbyBjb24gZXN0b3MgdMOpcm1pbm9zLiBTaSB0aWVuZSBhbGd1bmEgZHVkYSBzb2JyZSBsYSBsaWNlbmNpYSwgcG9yIGZhdm9yLCBjb250YWN0ZSBjb24gZWwgYWRtaW5pc3RyYWRvciBkZWwgc2lzdGVtYS4KClVOSVZFUlNJREFEIE5BQ0lPTkFMIERFIENPTE9NQklBIC0gw5psdGltYSBtb2RpZmljYWNpw7NuIDE5LzEwLzIwMjEK

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