Estrategia de Control Basada en Aprendizaje de Máquina para el Transporte de Carga Suspendida Usando Múltiples Robots Aéreos No Tripulados

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dc.contributor.advisorCalderón Chávez, Juan Manuel
dc.contributor.advisorAmaya, Sindy Paola
dc.contributor.authorMora Díaz, Viviana Alejandra
dc.contributor.corporatenameUniversidad Santo Tomásspa
dc.contributor.cvlachttps://scienti.minciencias.gov.co/cvlac/visualizador/generarCurriculoCv.do?cod_rh=0000380938spa
dc.contributor.cvlachttps://scienti.minciencias.gov.co/cvlac/visualizador/generarCurriculoCv.do?cod_rh=0000796425spa
dc.contributor.cvlachttps://scienti.minciencias.gov.co/cvlac/visualizador/generarCurriculoCv.do?cod_rh=0001767215spa
dc.contributor.googlescholarhttps://scholar.google.com/citations?hl=es&user=Gg2sofAAAAAJspa
dc.contributor.orcidhttps://orcid.org/0000-0002-4471-3980spa
dc.contributor.orcidhttps://orcid.org/0000-0002-1714-1593spa
dc.coverage.campusCRAI-USTA Bogotáspa
dc.date.accessioned2024-11-27T15:43:32Z
dc.date.available2024-11-27T15:43:32Z
dc.date.issued2024
dc.descriptionEl uso de vehículos aéreos no tripulados (UAVs) está cobrando una importancia cada vez mayor en diversos campos. Una de las aplicaciones más valiosas de esta tecnología es el transporte de cargas suspendidas, permitiendo mover objetos de manera segura y eficiente a lugares de difícil acceso, lo cual la hace particularmente útil para brindar asistencia en situaciones de emergencia, entregar suministros esenciales en regiones aisladas y facilitar servicios de distribución rápida en áreas urbanas. No obstante, esta estrategia presenta importantes desafíos asociados con la coordinación y control de varios UAVs, la estabilidad de la carga durante el transporte, y la capacidad de respuesta ante perturbaciones externas que puedan afectar su operación. Este proyecto se enfoca en abordar el problema del transporte de carga suspendida utilizando múltiples UAVs, acudiendo a diferentes enfoques basados en el aprendizaje automático, con el fin de proponer soluciones a las limitantes que posee esta aplicación y buscando aprovechar sus capacidades. El documento está estructurado de la siguiente manera: en el Capítulo 2, se describe el problema, analizando las limitaciones actuales y planteando una pregunta de investigación que orientará el desarrollo del proyecto. El Capítulo 3 presenta el estado del arte, explorando los trabajos previos y las soluciones existentes en la literatura especializada. En los Capítulos 4 y 5, se detalla la justificación del proyecto y su impacto social, además de definir los objetivos específicos que se espera alcanzar. Los capítulos siguientes se centran en el marco teórico y la implementación de la solución propuesta. Por último, en el Capítulo 10 se exponen los resultados obtenidos y en el 11 se extraen conclusiones del trabajo realizado. Esta estructura facilita una aproximación metódica y exhaustiva a los diferentes aspectos del problema, ofreciendo una perspectiva clara de las metodologías utilizadas y los avances logrados en el ámbito del control de UAVs con carga suspendida. De esta forma, se espera contribuir notablemente al desarrollo de soluciones más eficientes y efectivas en este campo de creciente relevancia tecnológica y social.spa
dc.description.abstractThe use of Unmanned Aerial Vehicles (UAVs) is gaining increasing significance across various fields. One of the most valuable applications of this technology is the transportation of suspended loads, enabling the safe and efficient movement of objects to hard-to-reach locations. This makes it particularly useful for providing assistance in emergency situations, delivering essential supplies to remote regions, and facilitating rapid distribution services in urban areas. However, this approach presents significant challenges related to the coordination and control of multiple UAVs, the stability of the load during transport, and responsiveness to external disturbances that may impact their operation. This project focuses on addressing the problem of suspended load transportation using multiple UAVs by leveraging various machine learning-based approaches. The aim is to propose solutions to the limitations of this application while maximizing its potential capabilities. The document is structured as follows: Chapter 2 describes the problem, analyzing current limitations and posing a research question that will guide the project's development. Chapter 3 presents the state of the art, exploring previous works and existing solutions in specialized literature. Chapters 4 and 5 provide the project's justification and its social impact, as well as defining the specific objectives to be achieved. Subsequent chapters focus on the theoretical framework and the implementation of the proposed solution. Finally, Chapter 10 outlines the results obtained, and Chapter 11 draws conclusions from the work conducted. This structure facilitates a methodical and comprehensive approach to the various aspects of the problem, offering a clear perspective on the methodologies employed and the advancements achieved in the field of UAV control for suspended load transportation. In this way, the project aims to make a significant contribution to the development of more efficient and effective solutions in this area of growing technological and social importance.spa
dc.description.degreelevelPregradospa
dc.description.degreenameIngeniero Electronicospa
dc.format.mimetypeapplication/pdfspa
dc.identifier.citationMora Díaz V. A. (2024). Estrategia de Control Basada en Aprendizaje de Máquina para el Transporte de Carga Suspendida Usando Múltiples Robots Aéreos No Tripulados. [Trabajo de Grado, Universidad Santo Tomás. Repositorio Institucional.]spa
dc.identifier.instnameinstname:Universidad Santo Tomásspa
dc.identifier.reponamereponame:Repositorio Institucional Universidad Santo Tomásspa
dc.identifier.repourlrepourl:https://repository.usta.edu.cospa
dc.identifier.urihttp://hdl.handle.net/11634/58696
dc.language.isospaspa
dc.publisherUniversidad Santo Tomásspa
dc.publisher.facultyFacultad de Ingeniería Electrónicaspa
dc.publisher.programPregrado Ingeniería Electrónicaspa
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dc.rightsAtribución-NoComercial-SinDerivadas 2.5 Colombia*
dc.rights.accessrightsinfo:eu-repo/semantics/openAccess
dc.rights.coarhttp://purl.org/coar/access_right/c_abf2spa
dc.rights.localAbierto (Texto Completo)spa
dc.rights.urihttp://creativecommons.org/licenses/by-nc-nd/2.5/co/*
dc.subject.keywordUAVspa
dc.subject.keywordArtificial Neural Networkspa
dc.subject.keywordANNspa
dc.subject.keywordUnmanned Aerial Vehiclespa
dc.subject.keywordPIDspa
dc.subject.keywordModel Reference Adaptive Controlspa
dc.subject.keywordMRACspa
dc.subject.keywordDronespa
dc.subject.keywordSuspended Loadspa
dc.subject.keywordRobotic Swarmspa
dc.subject.keywordRobotics Controlspa
dc.subject.lembIngenieríaspa
dc.subject.lembIngeniería electrónicaspa
dc.subject.lembTransporte de cargaspa
dc.subject.proposalVANTspa
dc.subject.proposalPIDspa
dc.subject.proposalVehículo Aéreo No Tripuladospa
dc.subject.proposalControl Adaptativo Basado en un Modelo de Referenciaspa
dc.subject.proposalEnjambre robóticospa
dc.subject.proposalRobóticaspa
dc.titleEstrategia de Control Basada en Aprendizaje de Máquina para el Transporte de Carga Suspendida Usando Múltiples Robots Aéreos No Tripuladosspa
dc.type.coarhttp://purl.org/coar/resource_type/c_7a1f
dc.type.coarversionhttp://purl.org/coar/version/c_ab4af688f83e57aa
dc.type.driveinfo:eu-repo/semantics/bachelorThesis
dc.type.localTrabajo de gradospa
dc.type.versioninfo:eu-repo/semantics/acceptedVersion

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