Publication: Sistema de recolección de objetos mediante visión artificial y planificación automática
Loading...
Identifiers
Publication date
2014-10
Defense date
2014-10-09
Authors
Advisors
Tutors
Journal Title
Journal ISSN
Volume Title
Publisher
Impact
Export
Abstract
Este trabajo consiste en el desarrollo de un sistema de control para un robot humanoide mediante la utilización de planificación automática y visión artificial. Este sistema debe permitir al robot recoger uno o varios objetos presentes en el entorno y transportarlos a otro lugar previamente seleccionado. Para ello el robot utilizará la planificación automática y la visión artificial con el fin de resolver esta tarea de forma automática. Además el sistema podrá ser configurado a priori por un usuario humano, indicando al robot las características de los objetos que debe recoger y transportar. Para comprobar el correcto funcionamiento del sistema se ha utilizado el robot humanoide NAO, el cual ha tenido que resolver un conjunto de problemas en entornos reales de forma autónoma.
This work consists in the development of a control system for a humanoid robot using automated planning and computer vision. This system must allow to pick one or various objects from the environment and carry them on to another place selected previously. According to this, the robot will use automated planning and computer vision to solve this task. Besides, the system could be configured a priori by a human user, providing to the robot information about the characteristics of the objects that must pick and carry on. Finally, an Humanoid Robot has been used to test the system performance, which has solved a set of problems in a real time environment autonomously.
This work consists in the development of a control system for a humanoid robot using automated planning and computer vision. This system must allow to pick one or various objects from the environment and carry them on to another place selected previously. According to this, the robot will use automated planning and computer vision to solve this task. Besides, the system could be configured a priori by a human user, providing to the robot information about the characteristics of the objects that must pick and carry on. Finally, an Humanoid Robot has been used to test the system performance, which has solved a set of problems in a real time environment autonomously.
Description
Keywords
Visión artificial, Planificación automática, Robots humanoides