Papers by Danilo Navarro
Scientia et technica, May 30, 2009
Stochastic modelling of rotating SONAR: a study case on point-type landmark probabilistic mapping... more Stochastic modelling of rotating SONAR: a study case on point-type landmark probabilistic mapping RESUMEN La medición mediante sensores de ultrasonido en uno de los métodos más utilizados en robótica móvil por su relación costo-efectividad. Sin embargo, estos sensores tienen una desventaja importante: su amplio ancho de haz. Esto lo hace poco útil en el proceso de construcción de mapas y extracción de características del entorno. Asimismo, otro problema asociado a este sensor es el de la poca facilidad que este sensor ofrece al momento de identificar inequívocamente los objetos del entorno. Esto se conoce como el problema de Correspondencia o Matching. En este trabajo se presenta un sensor de ultrasonidos rotativo que se basa en la amplitud del eco recibido para distinguir si se trata de un reflector tipo pared o tipo esquina, y que además es capaz de reducir la incertidumbre angular a valores alrededor de los 2 grados. Asimismo, se desarrolla el modelo estocástico de este sensor y también una estrategia de análisis de correspondencia, que permiten usar al sensor propuesto como elemento principal de observación en procesos de localización y construcción probabilística de mapas de entorno (SLAM).
Ultrasonic sensing is a well suited cost-benefit technique used in mobile robotics. Nevertheless,... more Ultrasonic sensing is a well suited cost-benefit technique used in mobile robotics. Nevertheless, this sensor type has a key drawback: its very Wide beam. This fact causes that this sensor becomes useless in the environment map building process. Another problem attached with this sensor is that it offers very little facilities for landmark extraction and object recognition. This problem is known as Matching. In this paper we introduce an ultrasonic sensor capable to extract wall or corner from an indoor environment, as well as to reduce the angle uncertainty, on the based of echo amplitude reaching the transducer. Moreover, we developed the stochastic model for this sensor as well as a matching algorithm for using this device as main observation element for probabilistic SLAM (Simultaneous Localization And Mapping).
The present work describes the use of ultrasonic sensors for distance Measuring by robots and the... more The present work describes the use of ultrasonic sensors for distance Measuring by robots and the construction of environmental maps; show Results obtained for the rotating sonar module designed.
2009 IEEE Conference on Emerging Technologies and Factory Automation, ETFA 2009, 2009
... Danilo Navarro Universidad de Oriente Departamento de Ingenierıa Eléctrica Barcelona - Venezu... more ... Danilo Navarro Universidad de Oriente Departamento de Ingenierıa Eléctrica Barcelona - Venezuela [email protected] ... The robot was placed in a scene divided in 50x50 cm grids, and then programmed to explore the sur-roundings, taking measurements from the magnetic ...
2008 Ieee International Conference on Emerging Technologies and Factory Automation, Proceedings, 2008
Geometric representation of the environment, known as mapping, plays an important role in mobile ... more Geometric representation of the environment, known as mapping, plays an important role in mobile robotics as it support various tasks such as localization, path plan-ning and motion control. Line models represent a popular approach to represent the geometric features of the envi- ...
2007 IEEE Conference on Emerging Technologies & Factory Automation (EFTA 2007), 2007
Ultrasound sensors, despite their low cost, are less common than other sensors used for robot loc... more Ultrasound sensors, despite their low cost, are less common than other sensors used for robot localization. This is because its main drawback: The lack of reli-able bearing information. We introduce a rotary ultra-sonic sensor able to extract features in a 360o-scan and classify ...
This paper presents a mobile platform developed by the group GIROPS of Technological University o... more This paper presents a mobile platform developed by the group GIROPS of Technological University of Pereira, the objective is the construction of map environment. The platform possesses a system of complete control for her displacement and managing of an ultrasonic rotary sensor. The processing of the information is realized by a FPGA. XC3S500E of the family Spartan-3E, made by Xilinx. Finally one appears interface graph designed in Matlab 7.0 which allows to control the movements of the robot and to visualize both his position and the information provided by the ultrasonic rotary sensor.
In spite of disadvantages of the odometric localization, it is widely used in mobile robots posit... more In spite of disadvantages of the odometric localization, it is widely used in mobile robots positioning system. Accuracy on the parameters of the kinematics model improves the localization results and contributes to reduce the operational costs. This paper proposes a simple method for differential-drive robot odometry calibration, where no special instruments are required. The localization system thus calibrated, showed a good capacity to estimate actual robot position, with errors below 10 % in path 40 meters long including 90- degrees turns on the spot.
En este artículo se presenta una plataforma móvil desarrollada por el grupo GIROPS de la Universi... more En este artículo se presenta una plataforma móvil desarrollada por el grupo GIROPS de la Universidad Tecnológica de Pereira, la cual tiene como objetivo el levantamiento de mapas de entorno. La plataforma posee un sistema de control completo para su desplazamiento y manejo de ...
utp.edu.co
A pesar de los inconvenientes de la localización odométrica, la misma es ampliamente usada en sis... more A pesar de los inconvenientes de la localización odométrica, la misma es ampliamente usada en sistema de navegación de robots móviles. La exactitud de los parámetros del modelo cinemático mejora los resultados en la localización y contribuye a reducir los costos operacionales. ...
El algoritmo de mapeado mediante el Filtro de Kalman Extendido195 6.2.2. Resultados experimentale... more El algoritmo de mapeado mediante el Filtro de Kalman Extendido195 6.2.2. Resultados experimentales extracción y correspondencia de landmark puntuales en la construcción de mapas de esquinas.. .. 6.3. Localización probabilística mediante landmark naturales tipo puntuales 6.3.1. El algoritmo de localización mediante hitos tipo puntuales usando el Filtro Extendido de Kalman .
Conference Presentations by Danilo Navarro
Jornadas cientifico-humanisticas UDO 2019, 2019
To increase safety and improve efficiency in cabotage and inspection operations in offshore oil p... more To increase safety and improve efficiency in cabotage and inspection operations in offshore oil production, the use of vessels equipped with dynamic positioning systems is essential. The cost of these systems and the lack of knowledge about them can become a factor that slows the development of the aforementioned activity. This document presents the conceptual basis for the development of a control system, based on a programmable automation controller or PAC, for dynamic vessel positioning.
Uploads
Papers by Danilo Navarro
Conference Presentations by Danilo Navarro