Especificación, diseño, construcción modelo y evaluación de un prototipo de robot móvil para aplicaciones de navegación en ambientes humanos

Abstract

This article presents the specification, design, construction, model and evaluation of the ARMOS TurtleBot 1 mobile robot prototype of differential locomotion, equipped with multiple sensory systems that facilitate the study of navigation strategies in human environments of the flat surface indoors. The prototype has an adequate size for the load capacity. Its usefulness in multiple algorithms such as tracking trajectories and mapping, special attention is paid to the system of geometric estimation, and for this prototype is implemented by effect sensors coupled on the axis of the engines.