Diseño y construcción de un robot móvil autónomo para localización y mapeo simultáneos (SLAM) en ambientes cerrados domésticos

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dc.contributor.advisorCalderon Chavez, Juan Manuel
dc.contributor.advisorGuarnizo Marin, Jose Guillermo
dc.contributor.advisorCamacho Poveda, Edgar Camilo
dc.contributor.authorRozo Manrique, Tatiana Andrea
dc.contributor.authorPallares Olivares, Brayan Stiven
dc.contributor.cvlachttps://scienti.minciencias.gov.co/cvlac/visualizador/generarCurriculoCv.do?cod_rh=0000380938spa
dc.contributor.orcidhttps://orcid.org/0000-0002-4471-3980spa
dc.coverage.campusCRAI-USTA Bogotáspa
dc.date.accessioned2021-07-03T05:45:23Z
dc.date.available2021-07-03T05:45:23Z
dc.date.issued2021-06-28
dc.descriptionEste proyecto de grado presenta el diseño y desarrollo de un robot móvil omnidireccional que brinde capacidades de movilidad a robots sociales y actuadores robóticos. Se detalla el diseño mecánico, electrónico y de software necesarios para el funcionamiento del robot. Se realizan los cálculos de cinemática y odometría para el movimiento del robot y se implementa el algoritmo de SLAM, RTAB-Map, que le permite al robot realizar mapas de entornos domésticos, localizarse y navegar en ellos. Como producto final se presenta: el diseño y modelo 3D del robot, un repositorio con los paquetes desarrollados en ROS y el robot construido.spa
dc.description.abstractThis degree project presents the design and development of an omnidirectional mobile robot that provides mobility capabilities to social robots and robotic actuators. The mechanical, electronic and software design necessary for the operation of the robot is detailed. The kinematics and odometry calculations for the robot's movement are performed and the SLAM algorithm, RTAB-Map, is implemented, which allows the robot to map, locate and navigate in domestic environments. The final product is presented: the design and 3D model of the robot, a repository with the packages developed in ROS and the built robot.spa
dc.description.degreelevelPregradospa
dc.description.degreenameIngeniero Electronicospa
dc.description.domainhttp://unidadinvestigacion.usta.edu.cospa
dc.format.mimetypeapplication/pdfspa
dc.identifier.citationPallares, B.S. & Rozo, T. A. (2021). Diseño y construcción de un robot móvil autónomo para localización y mapeo simultáneos (SLAM) en ambientes cerrados domésticos.. [Trabajo de pregrado, Universidad Santo Tomas]. 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/11634/34735
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.rightsAtribución-NoComercial-SinDerivadas 2.5 Colombia*
dc.rights.accessrightsinfo:eu-repo/semantics/openAccess
dc.rights.coarhttp://purl.org/coar/access_right/c_abf2
dc.rights.localAbierto (Texto Completo)spa
dc.rights.urihttp://creativecommons.org/licenses/by-nc-nd/2.5/co/*
dc.subject.keywordSLAMspa
dc.subject.keywordMechatronic systems and roboticsspa
dc.subject.keywordCost-oriented automationspa
dc.subject.keywordIntelligent systems and applicationsspa
dc.subject.keywordSocial roboticsspa
dc.subject.keywordMobile Robotspa
dc.subject.lembSistemas inteligentes y aplicacionesspa
dc.subject.lembRobot móvilspa
dc.subject.lembAutomatización orientada al costospa
dc.subject.proposalSLAMspa
dc.subject.proposalSistemas mecatrónicos y robóticaspa
dc.subject.proposalRobótica socialspa
dc.titleDiseño y construcción de un robot móvil autónomo para localización y mapeo simultáneos (SLAM) en ambientes cerrados domésticosspa
dc.typebachelor thesis
dc.type.categoryFormación de Recurso Humano para la Ctel: Trabajo de grado de Pregradospa
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.localTesis de pregradospa
dc.type.versioninfo:eu-repo/semantics/acceptedVersion

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