Modelo de razonamiento basado en creencias, deseos e intenciones para la toma de decisiones en un algoritmo de planificación de trayectorias
| dc.contributor.advisor | Fonseca Velásquez, Aldemar | |
| dc.contributor.advisor | Bermúdez Bohórquez, Giovanni Rodrigo | |
| dc.contributor.author | Infante Moreno, Willson | |
| dc.contributor.orcid | Infante Moreno, Willson [0000-0003-2668-0086] | |
| dc.contributor.orcid | Fonseca Velásquez, Aldemar [0000-0002-7904-4676] | |
| dc.contributor.orcid | Bermúdez Bohórquez, Giovanni Rodrigo [0000-0002-4744-160X] | |
| dc.date.accessioned | 2025-03-27T17:31:02Z | |
| dc.date.available | 2025-03-27T17:31:02Z | |
| dc.date.created | 2024-12-11 | |
| dc.description | Este trabajo se enfocó en mejorar la técnica reactiva conocida como Campos de Potenciales Artificiales, ampliamente utilizada en la planificación de trayectorias de navegación, debido a que este método es analítico, sencillo y fácil de implementar. En ambientes más complejos, este método no ofrece una solución óptima ya que puede llevar al robot a quedar atrapado en mínimos locales, impidiendo que alcance el objetivo. Para abordar este problema, se desarrolló una estrategia de navegación 2D que integra el modelo de toma de decisiones basado en el razonamiento práctico para agentes inteligentes BDI (Creencias, Deseos e Intenciones). Esta metodología permite al robot evitar mínimos locales al optimizar los campos potenciales repulsivos. Se realiza un análisis aproximado para la versión determinista del modelo seleccionado, evaluando tanto los resultados cualitativos como cuantitativos. | |
| dc.description.abstract | This work focused on improving the reactive technique known as Artificial Potential Fields, widely used in navigation trajectory planning, because this method is analytical, simple and easy to implement. In more complex environments, this method does not provide an optimal solution as it can lead the robot to become trapped in local minima, preventing it from reaching the target. To address this problem, a 2D navigation strategy was developed that integrates the decision making model based on practical reasoning for BDI (Beliefs, Desires and Intentions) intelligent agents. This methodology allows the robot to avoid local minima by optimizing repulsive potential fields. An approximate analysis is performed for the deterministic version of the selected model, evaluating both qualitative and quantitative results. | |
| dc.format.mimetype | ||
| dc.identifier.uri | http://hdl.handle.net/11349/94241 | |
| dc.language.iso | spa | |
| dc.publisher | Universidad Distrital Francisco José de Caldas | |
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| dc.rights.acceso | Abierto (Texto Completo) | |
| dc.rights.accessrights | OpenAccess | |
| dc.subject | Agentes Inteligentes | |
| dc.subject | Agentes B.D.I. | |
| dc.subject | Campos de potencial artificial | |
| dc.subject | Navegación autónoma | |
| dc.subject | Planificación de caminos | |
| dc.subject | Robótica móvil | |
| dc.subject.keyword | Intelligent agents | |
| dc.subject.keyword | B.D.I. agents | |
| dc.subject.keyword | Artificial potential fields | |
| dc.subject.keyword | Autonomous navigation | |
| dc.subject.keyword | Path planning | |
| dc.subject.keyword | Mobile robotics | |
| dc.subject.lemb | Maestría en Ingeniería - Énfasis en Ingeniería Electrónica -- Tesis y disertaciones académicas | |
| dc.subject.lemb | Inteligencia artificial --Toma de decisiones | spa |
| dc.subject.lemb | Planificación de trayectorias | spa |
| dc.subject.lemb | Razonamiento basado en creencias, deseos e intenciones | spa |
| dc.title | Modelo de razonamiento basado en creencias, deseos e intenciones para la toma de decisiones en un algoritmo de planificación de trayectorias | |
| dc.title.titleenglish | Belief, desire, and intention-based reasoning model for decision making in a path planning algorithm | |
| dc.type | masterThesis | |
| dc.type.coar | http://purl.org/coar/resource_type/c_bdcc | |
| dc.type.degree | Investigación-Innovación | |
| dc.type.driver | info:eu-repo/semantics/masterThesis |
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