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DE
Universidad Nacional de Jujuy
Facultad de Ingeniera
ABSTRACT: the development and implementation of a system for autonomous navigation of self-guided vehicles
(AGV) is presented. The design strategy is based on the use of algorithms of tracking trajectories assisted by GPS
(Global Positioning System) technology, in conjunction with an electronic compass for controlling the displacement
angle of the trajectories previously defined in a database. It is considered its application on vehicles with
displacement in a system of two horizontal coordinates. The system comprises the hardware associated for the
movement of a mobile prototype, and embedded software with the algorithmic encoding. Tests performed in a
terrestrial experimental vehicle, allowed verify system operation. It is concluded that the use of this methodology is
suitable for controlling trajectories autonomously in a horizontal plane. Continuity of work is directed to look at the
effects of the noise of measurement and control, making corrections using a Kalman filter for use in three dimensions
applied to an air vehicle 'drone' under construction.
Palabras claves: VAG, Trayectorias, Kalman, GPS
Keywords: VAG, Trajectory, Kalman, GPS
INTRODUCCIN
DE
Universidad Nacional de Jujuy
Facultad de Ingeniera
SEGUIMIENTO AUTNOMO DE
TRAYECTORIAS
[
(
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)
]
(1)
( )
[ ]
DE
Universidad Nacional de Jujuy
Facultad de Ingeniera
( )
( )
( )
( )
[
( )
(2)
)[
]
(
)[
]
(
(3)
DE
Facultad de Ingeniera
(4)
NORTE
u: Ruido de medicin
P3
z: Vector de medidas
Pi=(xk,yk,
k)
P4
P1
Figura 4: Posicin de un punto de trayectoria.
(5)
(
(6)
(7)
Altitud
Latitud
P1
A1
L1
P2
A2
L2
Pi
N-Gi-Mi-Si
E-Gi-Mi-Si
Pn
An
Ln
DE
Facultad de Ingeniera
(9)
)
(8)
DE
Universidad Nacional de Jujuy
Facultad de Ingeniera
DISTANCIAS
23
GPS
Referencia
Kalman
22.5
22
ENSAYOS EXPERIMENTALES
Medidas (Mts)
21.5
21
20.5
20
19.5
19
18.5
18
10
12
Mediciones
14
16
18
20
DE
Facultad de Ingeniera
DISTANCIAS
23
GPS
Referencia
Kalman
22.5
22
Medidas (Mts)
21.5
21
REFERENCIAS
20.5
20
19.5
19
18.5
18
10
12
Mediciones
14
16
18
20
CONCLUSIONES