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
dor_id: 4110187
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561.#.#.u: https://www.icat.unam.mx/
650.#.4.x: Ingenierías
336.#.#.b: article
336.#.#.3: Artículo de Investigación
336.#.#.a: Artículo
351.#.#.6: https://jart.icat.unam.mx/index.php/jart
351.#.#.b: Journal of Applied Research and Technology
351.#.#.a: Artículos
harvesting_group: RevistasUNAM
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590.#.#.c: Open Journal Systems (OJS)
270.#.#.d: MX
270.1.#.d: México
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883.#.#.u: https://revistas.unam.mx/catalogo/
883.#.#.a: Revistas UNAM
590.#.#.a: Coordinación de Difusión Cultural
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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
884.#.#.k: https://jart.icat.unam.mx/index.php/jart/article/view/740
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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
856.#.0.q: application/pdf
file_creation_date: 2019-11-12 17:00:36.0
file_modification_date: 2019-11-12 17:00:36.0
file_creator: Mónica Aparicio Estrada
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license_url: https://creativecommons.org/licenses/by-nc-sa/4.0/legalcode.es
license_type: by-nc-sa
Urrea, Claudio; Pascal, José
Instituto de Ciencias Aplicadas y Tecnología, UNAM, publicado en Journal of Applied Research and Technology, y cosechado de Revistas UNAM
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