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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Detalles Bibliográficos
Autores: De La Cruz Vaca, Aida Liliana, Tapia Claudio, Edison Fernando
Tipo de recurso: artículo
Estado:Versión publicada
Fecha de publicación:2022
País:Ecuador
Institución:Universidad de las Fuerzas Armadas
Repositorio:Repositorio Universidad de las Fuerzas Armadas
Idioma:inglés
OAI Identifier:oai:repositorio.espe.edu.ec:21000/34945
Acceso en línea:http://repositorio.espe.edu.ec/handle/21000/34945
Access Level:acceso abierto
Palabra clave:ROBOT OMNIDIRECCIONAL
ENTRENAMIENTO VIRTUAL
CONTROL AUTÓNOMO
MODELADO DINÁMICO
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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/articleDe 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:ESPE2023-10-17T13:00:51Zoai:repositorio.espe.edu.ec:21000/34945Institucionalhttps://repositorio.espe.edu.ec/Universidad públicahttps://www.espe.edu.ec/https://repositorio.espe.edu.ec/oai.Ecuador...opendoar:20422023-10-17T13:00:51Repositorio Universidad de las Fuerzas Armadas - Universidad de las Fuerzas Armadasfalse
dc.title.none.fl_str_mv Virtual Training System for the Autonomous Navigation of an Omnidirectional Traction Robot
title Virtual Training System for the Autonomous Navigation of an Omnidirectional Traction Robot
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
title_short 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_sort Virtual Training System for the Autonomous Navigation of an Omnidirectional Traction Robot
dc.creator.none.fl_str_mv De La Cruz Vaca, Aida Liliana
Tapia Claudio, Edison Fernando
author De La Cruz Vaca, Aida Liliana
author_facet De La Cruz Vaca, Aida Liliana
Tapia Claudio, Edison Fernando
author_role author
author2 Tapia Claudio, Edison Fernando
author2_role author
dc.contributor.none.fl_str_mv Víctor Hugo, Andaluz Ortiz
dc.subject.none.fl_str_mv ROBOT OMNIDIRECCIONAL
ENTRENAMIENTO VIRTUAL
CONTROL AUTÓNOMO
MODELADO DINÁMICO
topic ROBOT OMNIDIRECCIONAL
ENTRENAMIENTO VIRTUAL
CONTROL AUTÓNOMO
MODELADO DINÁMICO
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.
publishDate 2022
dc.date.none.fl_str_mv 2022-12-21T23:54:55Z
2022-12-21T23:54:55Z
2022-12-19
dc.type.none.fl_str_mv info:eu-repo/semantics/publishedVersion
info:eu-repo/semantics/article
format article
status_str publishedVersion
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
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
url http://repositorio.espe.edu.ec/handle/21000/34945
dc.language.none.fl_str_mv eng
language eng
dc.rights.none.fl_str_mv info:eu-repo/semantics/openAccess
eu_rights_str_mv openAccess
dc.publisher.none.fl_str_mv Universidad de las Fuerzas Armadas ESPE. Maestría en Electrónica y Automatización Mención Redes Industriales.
publisher.none.fl_str_mv Universidad de las Fuerzas Armadas ESPE. Maestría en Electrónica y Automatización Mención Redes Industriales.
dc.source.none.fl_str_mv reponame:Repositorio Universidad de las Fuerzas Armadas
instname:Universidad de las Fuerzas Armadas
instacron:ESPE
instname_str Universidad de las Fuerzas Armadas
instacron_str ESPE
institution ESPE
reponame_str Repositorio Universidad de las Fuerzas Armadas
collection Repositorio Universidad de las Fuerzas Armadas
repository.name.fl_str_mv Repositorio Universidad de las Fuerzas Armadas - Universidad de las Fuerzas Armadas
repository.mail.fl_str_mv .
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score 14,964248

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