Algoritmo para planear trayectorias de robots móviles, empleando campos potenciales y enjambres de partículas activas brownianas

  • Helbert Eduardo Espitia Cuchango Universidad Distrital Francisco José de Caldas
  • Jorge Iván Sofrony Esmeral Universidad Nacional de Colombia
Palabras clave: robótica móvil, planeación de trayectorias, partículas activas brownianas

Resumen

En este documento se presenta la propuesta de un algoritmo para planear trayectorias, empleando un modelo de partículas activas brownianas. Existen varios métodos para planear trayectorias en robótica móvil, y uno de los más populares es el basado en campos potenciales artificiales; sin embargo, este método tiene la desventaja de presentar mínimos locales lo cual puede hacer que el robot no logre llegar al punto destino. Aunque ya se han realizado aplicaciones de enjambres de partículas para evadir mínimos locales, en la propuesta aquí presentada, se busca emplear un modelo compacto que permita planear la trayectoria, evadiendo mínimos locales.

Biografía del autor/a

Helbert Eduardo Espitia Cuchango, Universidad Distrital Francisco José de Caldas

Ing. Electrónico, Mecatrónico, Esp, Mag., Profesor Asistente
Universidad Distrital Francisco José de Caldas, Bogotá, Colombia

Jorge Iván Sofrony Esmeral, Universidad Nacional de Colombia

Ing. Eléctrico, MSc, PhD., Profesor Asistente Universidad Nacional de Colombia, Bogotá, Colombia

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Biografía del autor/a

Helbert Eduardo Espitia Cuchango, Universidad Distrital Francisco José de Caldas

Ing. Electrónico, Mecatrónico, Esp, Mag., Profesor Asistente
Universidad Distrital Francisco José de Caldas, Bogotá, Colombia

Jorge Iván Sofrony Esmeral, Universidad Nacional de Colombia

Ing. Eléctrico, MSc, PhD., Profesor Asistente Universidad Nacional de Colombia, Bogotá, Colombia

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Cómo citar
Espitia Cuchango, H. E., & Sofrony Esmeral, J. I. (2012). Algoritmo para planear trayectorias de robots móviles, empleando campos potenciales y enjambres de partículas activas brownianas. Ciencia E Ingeniería Neogranadina, 22(2), 75-96. https://doi.org/10.18359/rcin.242
Publicado
2012-12-01
Sección
Artículos
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