Treffer: DISEÑO E IMPLEMENTACIÓN DE UN SISTEMA DE SEGUIMIENTO DE UN ROBOT MÓVIL

Amador Labrador, P. (2019). DISEÑO E IMPLEMENTACIÓN DE UN SISTEMA DE SEGUIMIENTO DE UN ROBOT MÓVIL. http://hdl.handle.net/10251/126277 ; [EN] This project consists on the design of a guiding system of a mobile robot which will be used as a simplified testing platform for autonomous vehicles. We will use two robots, with four wheels each one (two wheels for rear wheel drive and the other two for steering control). Also, they will be equipped with some sensors which will allow them to obtain tracking parameters. The first robot will use a Raspberry Pi as central processing and control unit. It will guide the car to follow a predetermined track, to stop when required and to detect traffic lights located in the circuit thanks to the use of computer vision techniques. To reach these objectives, we will use some control algorithms programmed in Python, that includes the use of OpenCV and Numpy libraries, which contain different image processing algorithms. The second robot, equipped with an Arduino as central processing and control unit, must follow the first one, maintaining a proper distance separation, stopping and getting back on track according to the Raspberry Pi¿s performance. The programing language used will be C++. This project has an interdisciplinary character, including several fields of study from the degree, and some new, including the learning of certain tools required for the project¿s development. Therefore, we will acquire specific knowledge in electronics, programming, control and computer vision techniques, etc. Also, some transversal competences learned are autonomous work, creativity and decision making. TFGM ; [ES] El presente trabajo tiene como objetivo el diseño del sistema de seguimiento de un robot móvil que servirá como plataforma de pruebas simplificada para vehículos autónomos. Para ello se utilizarán dos robots, los cuales dispondrán de cuatro ruedas cada uno (dos para la tracción y dos para el control de la dirección). Además, estarán equipados con diferentes sensores que permitirán ...