Virtual Training System for the Autonomous Navigation of an Omnidirectional Traction Robot
This paper presents the development of a virtual environment for the training of autonomous omnidirectional drive vehicle control. The virtual system considers the virtualization of structured and unstructured environments. Therefore, the virtual environment considers mathematical models of the omni...
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| Formato: | article |
| Idioma: | eng |
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2022
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| Acesso em linha: | http://repositorio.espe.edu.ec/handle/21000/34945 |
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| author | De La Cruz Vaca, Aida Liliana |
| author2 | Tapia Claudio, Edison Fernando |
| author2_role | author |
| author_facet | De La Cruz Vaca, Aida Liliana Tapia Claudio, Edison Fernando |
| author_role | author |
| collection | Repositorio Universidad de las Fuerzas Armadas |
| dc.contributor.none.fl_str_mv | Víctor Hugo, Andaluz Ortiz |
| dc.creator.none.fl_str_mv | De La Cruz Vaca, Aida Liliana Tapia Claudio, Edison Fernando |
| dc.date.none.fl_str_mv | 2022-12-21T23:54:55Z 2022-12-21T23:54:55Z 2022-12-19 |
| dc.format.none.fl_str_mv | application/pdf application/pdf |
| dc.identifier.none.fl_str_mv | De La Cruz Vaca, Aida Liliana. Tapia Claudio, Edison Fernando. (2022). Virtual Training System for the Autonomous Navigation of an Omnidirectional Traction Robot. Maestría en Electrónica y Automatización Mención Redes Industriales. Universidad de las Fuerzas Armadas ESPE. Extensión Latacunga. MEI-0039 http://repositorio.espe.edu.ec/handle/21000/34945 |
| dc.language.none.fl_str_mv | eng |
| dc.publisher.none.fl_str_mv | Universidad de las Fuerzas Armadas ESPE. Maestría en Electrónica y Automatización Mención Redes Industriales. |
| dc.rights.none.fl_str_mv | info:eu-repo/semantics/openAccess |
| dc.source.none.fl_str_mv | reponame:Repositorio Universidad de las Fuerzas Armadas instname:Universidad de las Fuerzas Armadas instacron:ESPE |
| dc.subject.none.fl_str_mv | ROBOT OMNIDIRECCIONAL ENTRENAMIENTO VIRTUAL CONTROL AUTÓNOMO MODELADO DINÁMICO |
| dc.title.none.fl_str_mv | Virtual Training System for the Autonomous Navigation of an Omnidirectional Traction Robot |
| dc.type.none.fl_str_mv | info:eu-repo/semantics/publishedVersion info:eu-repo/semantics/article |
| description | This paper presents the development of a virtual environment for the training of autonomous omnidirectional drive vehicle control. The virtual system considers the virtualization of structured and unstructured environments. Therefore, the virtual environment considers mathematical models of the omnidirectional robot in order to simulate more realistically the behavior and motion constraints of the robot. The integration of the control schemes is considered in the MatLab software, for which a communication between the Unity3D graphic engine and MatLab is considered through the use of DLL libraries. For the validation of the control algorithms on the virtual training environment, the construction of an omnidirectional traction vehicle with Mecanum configuration. In addition, the constructed prototype will be used for the identification and validation of the mathematical models that represent its behavior. Finally, a usability analysis of the developed training system is presented. |
| eu_rights_str_mv | openAccess |
| format | article |
| id | ESPE_1d96fddcd57b4d1d9d8feae0e2da725f |
| identifier_str_mv | De La Cruz Vaca, Aida Liliana. Tapia Claudio, Edison Fernando. (2022). Virtual Training System for the Autonomous Navigation of an Omnidirectional Traction Robot. Maestría en Electrónica y Automatización Mención Redes Industriales. Universidad de las Fuerzas Armadas ESPE. Extensión Latacunga. MEI-0039 |
| instacron_str | ESPE |
| institution | ESPE |
| instname_str | Universidad de las Fuerzas Armadas |
| language | eng |
| network_acronym_str | ESPE |
| network_name_str | Repositorio Universidad de las Fuerzas Armadas |
| oai_identifier_str | oai:repositorio.espe.edu.ec:21000/34945 |
| publishDate | 2022 |
| publisher.none.fl_str_mv | Universidad de las Fuerzas Armadas ESPE. Maestría en Electrónica y Automatización Mención Redes Industriales. |
| reponame_str | Repositorio Universidad de las Fuerzas Armadas |
| repository.mail.fl_str_mv | . |
| repository.name.fl_str_mv | Repositorio Universidad de las Fuerzas Armadas - Universidad de las Fuerzas Armadas |
| repository_id_str | 2042 |
| spelling | Virtual Training System for the Autonomous Navigation of an Omnidirectional Traction RobotDe La Cruz Vaca, Aida LilianaTapia Claudio, Edison FernandoROBOT OMNIDIRECCIONALENTRENAMIENTO VIRTUALCONTROL AUTÓNOMOMODELADO DINÁMICOThis paper presents the development of a virtual environment for the training of autonomous omnidirectional drive vehicle control. The virtual system considers the virtualization of structured and unstructured environments. Therefore, the virtual environment considers mathematical models of the omnidirectional robot in order to simulate more realistically the behavior and motion constraints of the robot. The integration of the control schemes is considered in the MatLab software, for which a communication between the Unity3D graphic engine and MatLab is considered through the use of DLL libraries. For the validation of the control algorithms on the virtual training environment, the construction of an omnidirectional traction vehicle with Mecanum configuration. In addition, the constructed prototype will be used for the identification and validation of the mathematical models that represent its behavior. Finally, a usability analysis of the developed training system is presented.ESPELUniversidad de las Fuerzas Armadas ESPE. Maestría en Electrónica y Automatización Mención Redes Industriales.Víctor Hugo, Andaluz Ortiz2022-12-21T23:54:55Z2022-12-21T23:54:55Z2022-12-19info:eu-repo/semantics/publishedVersioninfo:eu-repo/semantics/articleapplication/pdfapplication/pdfDe La Cruz Vaca, Aida Liliana. Tapia Claudio, Edison Fernando. (2022). Virtual Training System for the Autonomous Navigation of an Omnidirectional Traction Robot. Maestría en Electrónica y Automatización Mención Redes Industriales. Universidad de las Fuerzas Armadas ESPE. Extensión Latacunga.MEI-0039http://repositorio.espe.edu.ec/handle/21000/34945enginfo:eu-repo/semantics/openAccessreponame:Repositorio Universidad de las Fuerzas Armadasinstname:Universidad de las Fuerzas Armadasinstacron:ESPE2024-07-27T11:42:15Zoai:repositorio.espe.edu.ec:21000/34945Institucionalhttps://repositorio.espe.edu.ec/Universidad públicahttps://www.espe.edu.ec/https://repositorio.espe.edu.ec/oai.Ecuador...opendoar:20422026-03-06T15:36:01.607533Repositorio Universidad de las Fuerzas Armadas - Universidad de las Fuerzas Armadastrue |
| spellingShingle | Virtual Training System for the Autonomous Navigation of an Omnidirectional Traction Robot De La Cruz Vaca, Aida Liliana ROBOT OMNIDIRECCIONAL ENTRENAMIENTO VIRTUAL CONTROL AUTÓNOMO MODELADO DINÁMICO |
| status_str | publishedVersion |
| title | Virtual Training System for the Autonomous Navigation of an Omnidirectional Traction Robot |
| title_full | Virtual Training System for the Autonomous Navigation of an Omnidirectional Traction Robot |
| title_fullStr | Virtual Training System for the Autonomous Navigation of an Omnidirectional Traction Robot |
| title_full_unstemmed | Virtual Training System for the Autonomous Navigation of an Omnidirectional Traction Robot |
| title_short | Virtual Training System for the Autonomous Navigation of an Omnidirectional Traction Robot |
| title_sort | Virtual Training System for the Autonomous Navigation of an Omnidirectional Traction Robot |
| topic | ROBOT OMNIDIRECCIONAL ENTRENAMIENTO VIRTUAL CONTROL AUTÓNOMO MODELADO DINÁMICO |
| url | http://repositorio.espe.edu.ec/handle/21000/34945 |