Liendro, Tomás (2020) Implementación de un controlador híbrido en un sistema robótico autónomo / Implementation of an hybrid controller in an autonomous robot system. Proyecto Integrador Ingeniería Mecánica, Universidad Nacional de Cuyo, Instituto Balseiro.
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Resumen en español
En este trabajo se presenta el proceso de diseño e implementación llevado a cabo para la construcción de un robot autónomo basado en controladores híbridos. Haciendo uso de la técnica de planning, se logró planificar misiones de patrullaje en zonas con y sin obstáculos (motion planning), misiones donde el robot debe emitir una alerta al ingresar a una región y misiones de ordenamiento de una caja en un entorno acotado (task planning). Se utilizó el software MTSA (The Modal Transition System Analyser) para la síntesis de controladores discretos ((correctos por construcción)) que satisfagan un modelo del sistema robótico real y las propiedades que en dicho sistema deben cumplirse. Además, se presenta una metodología que pretende sistematizar el proceso de diseño de robots basado en controladores híbridos a partir de un enfoque en el que la especificación de la misión tiene un rol central. El proceso de diseño fue validado mediante la realización de diferentes misiones con un prototipo robótico construido por manufactura aditiva (impresión 3D) y con un entorno de simulación diseñado para tal fin.
Resumen en inglés
This work presents the design and implementation process carried out for the development of an autonomous robot based on hybrid controllers. By making use of the planning technique, it was possible to generate plans for patrol missions in areas with and without obstructions (motion planning), missions in which the robot has to issue an alert when entering a specic region and box-sorting missions in an enclosed area (task planning). The MTSA (The Modal Transition System Analyser) software was used to synthesize correct-by-construction discrete controllers that satisfy a model of the real robotic system and a set of properties that must be fullled in said model. Furthermore, this project presents a methodology that intends to systematize the design process of robots based on hybrid controllers, through an approach focused on the mission specication. The design process was validated by means of different mission tests using a robotic prototype constructed from additive manufacturing (3D printing) and a simulation environment exclusively designed for these tests.
| Tipo de objeto: | Tesis (Proyecto Integrador Ingeniería Mecánica) |
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| Materias: | Ingeniería mecánica > Robótica |
| Divisiones: | Gcia. de área de Investigación y aplicaciones no nucleares > Gcia. de Física > Sistemas complejos y altas energías > Física estadística interdisciplinaria |
| Código ID: | 915 |
| Depositado Por: | Marisa G. Velazco Aldao |
| Depositado En: | 12 May 2021 12:08 |
| Última Modificación: | 12 May 2021 12:08 |
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