Resumen

MARTINEZ SANTA, Fernando; ORJUELA RIVERA, Santiago  y  ARBULU SAAVEDRA, Mario. Global navigation approach for assistant robot. Tecnura [online]. 2017, vol.21, n.51, pp.105-117. ISSN 0123-921X.  https://doi.org/10.14483/udistrital.jour.tecnura.2017.1.a08.

Abstract Context: This work shows a novel navigation approach based on images for an assistant hybrid robot composed by a humanoid and an omnidirectional platform. Method: This approach introduces a complex space analysis, using Zeros and Poles attraction-repulsion principle. In order to perform the algorithm, an integrated system is developed; this system includes: an external camera to take a global navigation surface view, the assistant robot, and communication devices. Navigation is supported by some digital image processing algorithms and performed using the root location technique. Results: An integrated system of global navigation with external sensors was successfully implemented for the proposed hybrid robot. Conclusions: Some simulation and experimental tests will be discussed in order to validate this proposal and the whole system. Additionally, some suggestions for future research are proposed.

Palabras clave : Navigation; Path planning; Mobile robot; Root Locus; Omnidirectional platform; navegación; planeación de rutas; robot móvil; localización de raíces; plataforma omnidireccional.

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