Novel Certad

Simon Bolívar University · Departamento de Electrónica y Circuitos

This paper describes an algorithm that performs an autonomous 3D reconstruction of an environment with a single 2D Laser Imaging Detection and Ranging (LIDAR) sensor, as well as its implementation on a mobile platform using the Robot Operating System (ROS). A ROS node was used to redirect the flow of data that can go to either the 2D Simultaneous L...

Trajectory generation and tracking algorithms were developed using ROS (Robot Operating System) for the AR.Drone 2.0 quadcopter. Flight paths were created with cubic polynomials and Bezier curves. A PID controller was implemented to drive ´ the AR.Drone from its current position to the desired coordinate point for the trajectory tracking task. Addi...

One of the primary advantages of walking machines is their inherent capacity for moving over different terrains. However, it is necessary a locomotion system for planning in advance future footholds, and to modify the conventional gait in order to maintain the platform stability. In this work we present a module for planning the next foothold, whic...

This paper describes a novel feature extraction method for laser rangefinder data. Extracted features correspond to real and virtual corners of the scanned scene. The method is based on the Hough Transform (HT) for line extraction, where the intersecting points of these lines are considered as features. This work highlights the use of the HT outsid...

This paper presents the modeling and study of dynamic behavior of a backhoe machine for tuning of PID controller. The tuning procedure of PID controller is performed, in detailed, for the case of a typical operation, digging a foundation and truck loading. This tuning procedure guarantees the local asymptotic stability in the sense of Lyapunov of o...

This paper presents a study of several oscillators for the generation of rhythmic patterns that are used in the locomotion of legged robots using a central pattern generator (CPG). This work also shows a comparative analysis of these oscillators focused on their implementation as part of the CPG system, based on simulations made using software tool...

A control scheme for the mobile robot Roomba was developed using ROS (robot operating system), which allowed the control of the robot using velocity vector references. A Kinect sensor was incorporated into the system and also a framework which provides communication with processes in other instances, monitoring and remote control. The system is fle...

In this work we present an analysis of the natural reference extraction method (corners, intersections, hallways) using the estimated curvature function for 2D images provided by a laser range finder. Some of the problems from the original method introduced in 2007 are considered and possible solutions to this problems are proposed. Finally, the or...

Path-planning in dynamic environments while meeting safety requirements for robots and humans is an open problem in robotics. The successful navigation in this kind of environments requires a certain level of anticipation to the future behavior of moving objects. In this paper we propose the use of movement prediction in the generation of dynamic a...

In this work a distributed navigation control strategy for multi-robot systems based only in the local information provided by the robots is presented. Each robot calculates the vector forces required for navigation towards a goal avoiding possible obstacles on the workspace and traveling in formation with other members of the swarm. A control arch...

Las herramientas tradicionales de enseñanza como pizarra plana, transparencias e incluso presentaciones de diapositivas usando computadoras, dificultan la visualización de situaciones tridimensionales con múltiples cuerpos y múltiples sistemas de referencia, como lo es el análisis de las cadenas cinemáticas abiertas (manipuladores o patas robóticas...