Sistema de Navegación en Vehículos Autónomos a Partir del Control Predictivo por Modelo en un Escenario con Obstáculos

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dc.contributor.advisorCalderon Chávez, Juan Manuel
dc.contributor.advisorAmaya, Sindy Paola
dc.contributor.authorCorredor Cely, Jorge Luis
dc.contributor.authorGarcia Carrillo, Juan Camilo
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=0001767648spa
dc.contributor.cvlachttps://scienti.minciencias.gov.co/cvlac/visualizador/generarCurriculoCv.do?cod_rh=0001767652spa
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.contributor.orcidhttps://orcid.org/0000-0002-3210-6833spa
dc.coverage.campusCRAI-USTA Bogotáspa
dc.date.accessioned2024-04-11T17:04:50Z
dc.date.available2024-04-11T17:04:50Z
dc.date.issued2023
dc.descriptionEl presente proyecto de grado se enfoca en el diseño de un sistema de navegación para un vehículo autónomo utilizando el enfoque de Control predictivo por modelo en un ambiente de simulación. El MPC es una técnica de control avanzada que utiliza un modelo matemático del sistema y un horizonte de predicción para calcular y aplicar de manera óptima las acciones de control. El objetivo principal de este proyecto es diseñar y evaluar un sistema de navegación utilizando MPC en un entorno simulado para un vehículo autónomo. Si bien la implementación en el mundo real conlleva desafíos prácticos adicionales, la simulación ofrece un entorno seguro y controlado para probar y perfeccionar el sistema antes de considerar su implementación práctica. El sistema de navegación propuesto se basará en una combinación de sensores avanzados proveídos por el ambiente integrado de simulación, como cámaras, LiDAR y radar, para obtener información precisa sobre el entorno circundante. Esta información se fusionará y procesará utilizando algoritmos de percepción y localización, permitiendo al sistema construir un modelo dinámico del entorno y tomar decisiones informadas en función de los objetivos y las restricciones definidas. El diseño del sistema de navegación se llevará a cabo utilizando herramientas y lenguajes de programación adecuados. Se considerarán aspectos de seguridad, rendimiento y eficiencia para garantizar la viabilidad y la aplicabilidad práctica del sistema, incluso en un ambiente simulado.spa
dc.description.degreelevelPregradospa
dc.description.degreenameIngeniero Electronicospa
dc.format.mimetypeapplication/pdfspa
dc.identifier.citationCorredor Cely, J. L. y García Carrillo, J. C. (2023). Sistema de Navegación en Vehículos Autónomos a Partir del Control Predictivo por Modelo en un Escenario con Obstáculos. [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/11634/54539
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.keywordModel predictive controlspa
dc.subject.keywordFGMspa
dc.subject.keywordPath planningspa
dc.subject.keywordAutonomous vehiclesspa
dc.subject.lembIngeniería Electrónicaspa
dc.subject.lembDiseño, Navegaciónspa
dc.subject.lembVehículo Autónomospa
dc.subject.proposalControl predictivo por modelospa
dc.subject.proposalFGMspa
dc.subject.proposalPlanificación de rutasspa
dc.subject.proposalVehículos autónomosspa
dc.titleSistema de Navegación en Vehículos Autónomos a Partir del Control Predictivo por Modelo en un Escenario con Obstáculosspa
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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