dor_id: 4110187

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336.#.#.3: Artículo de Investigación

336.#.#.a: Artículo

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351.#.#.b: Journal of Applied Research and Technology

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270.1.#.p: Revistas UNAM. Dirección General de Publicaciones y Fomento Editorial, UNAM en revistas@unam.mx

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856.4.0.u: https://jart.icat.unam.mx/index.php/jart/article/view/740/703

100.1.#.a: Urrea, Claudio; Pascal, José

524.#.#.a: Urrea, Claudio, et al. (2018). Algorithms for the generation of autonomous routes. Journal of Applied Research and Technology; Vol. 16 Núm. 5. Recuperado de https://repositorio.unam.mx/contenidos/4110187

245.1.0.a: Algorithms for the generation of autonomous routes

502.#.#.c: Universidad Nacional Autónoma de México

561.1.#.a: Instituto de Ciencias Aplicadas y Tecnología, UNAM

264.#.0.c: 2018

264.#.1.c: 2019-06-28

653.#.#.a: Robotics; analysis of algorithms; automated systems; evaluation

506.1.#.a: La titularidad de los derechos patrimoniales de esta obra pertenece a las instituciones editoras. Su uso se rige por una licencia Creative Commons BY-NC-SA 4.0 Internacional, https://creativecommons.org/licenses/by-nc-sa/4.0/legalcode.es, para un uso diferente consultar al responsable jurídico del repositorio por medio del correo electrónico gabriel.ascanio@icat.unam.mx

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041.#.7.h: eng

520.3.#.a: In this work, the performance of two algorithms that allow a mobile robot to guide itself as it explores its surroundings is studied. For that purpose, the performance of harmonic potential fields and A* algorithms is considered. The algorithm offering the best service to a real mobile robot in its future implementation is selected based on test results. Initially, the robot would not know in which environment it is located, and would only obtain limited information about its surroundings by means of its sensors, thus implying that the robot has to trace the route dynamically from the motion starting point to the goal. To evaluate these algorithms, critical surroundings are assumed, which are formed by the possible U- and T-shaped structures that the robot could detect in an unknown environment. The evolution of the dynamic performance of these algorithms generates solutions that represent local minima between the robot and the point objective. The selection criterion of the best algorithm is mainly based on the ability to find the point objective in environments with strong local minima, which need to be solved by means of the studied algorithms to allow the robot to avoid and/or get out of complex structures. Finally, the efficiency of the algorithms in the calculation process, i.e., the time taken by them to reach the point objective satisfactorily, is analyzed and presented, considering that the shorter the time, the greater the selection weighting.

773.1.#.t: Journal of Applied Research and Technology; Vol. 16 Núm. 5

773.1.#.o: https://jart.icat.unam.mx/index.php/jart

022.#.#.a: ISSN electrónico: 2448-6736; ISSN: 1665-6423

310.#.#.a: Bimestral

264.#.1.b: Instituto de Ciencias Aplicadas y Tecnología, UNAM

doi: https://doi.org/10.22201/icat.16656423.2018.16.5.740

harvesting_date: 2023-11-08 13:10:00.0

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file_creator: Mónica Aparicio Estrada

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Artículo

Algorithms for the generation of autonomous routes

Urrea, Claudio; Pascal, José

Instituto de Ciencias Aplicadas y Tecnología, UNAM, publicado en Journal of Applied Research and Technology, y cosechado de Revistas UNAM

Licencia de uso

Procedencia del contenido

Cita

Urrea, Claudio, et al. (2018). Algorithms for the generation of autonomous routes. Journal of Applied Research and Technology; Vol. 16 Núm. 5. Recuperado de https://repositorio.unam.mx/contenidos/4110187

Descripción del recurso

Autor(es)
Urrea, Claudio; Pascal, José
Tipo
Artículo de Investigación
Área del conocimiento
Ingenierías
Título
Algorithms for the generation of autonomous routes
Fecha
2019-06-28
Resumen
In this work, the performance of two algorithms that allow a mobile robot to guide itself as it explores its surroundings is studied. For that purpose, the performance of harmonic potential fields and A* algorithms is considered. The algorithm offering the best service to a real mobile robot in its future implementation is selected based on test results. Initially, the robot would not know in which environment it is located, and would only obtain limited information about its surroundings by means of its sensors, thus implying that the robot has to trace the route dynamically from the motion starting point to the goal. To evaluate these algorithms, critical surroundings are assumed, which are formed by the possible U- and T-shaped structures that the robot could detect in an unknown environment. The evolution of the dynamic performance of these algorithms generates solutions that represent local minima between the robot and the point objective. The selection criterion of the best algorithm is mainly based on the ability to find the point objective in environments with strong local minima, which need to be solved by means of the studied algorithms to allow the robot to avoid and/or get out of complex structures. Finally, the efficiency of the algorithms in the calculation process, i.e., the time taken by them to reach the point objective satisfactorily, is analyzed and presented, considering that the shorter the time, the greater the selection weighting.
Tema
Robotics; analysis of algorithms; automated systems; evaluation
Idioma
eng
ISSN
ISSN electrónico: 2448-6736; ISSN: 1665-6423

Enlaces