Persona:
Fábregas Acosta, Ernesto

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0000-0003-4478-6626
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Fábregas Acosta
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Ernesto
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2019 - 201912020 - 20231
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Autor: Farias, Gonzalo ×

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Mostrando 1 - 2 de 2
  • Miniatura
    Publicación
    Mobile Robot Navigation Based on Embedded Computer Vision
    (MDPI, 2023) Marroquín, Alberto; García, Gonzalo; Fábregas Acosta, Ernesto; Aranda Escolástico, Ernesto; Farias, Gonzalo; https://orcid.org/0000-0001-6354-0520; https://orcid.org/0000-0001-9968-960X; https://orcid.org/0000-0003-2186-4126
    The current computational advance allows the development of technological solutions using tools, such as mobile robots and programmable electronic systems. We present a design that integrates the Khepera IV mobile robot with an NVIDIA Jetson Xavier NX board. This system executes an algorithm for navigation control based on computer vision and the use of a model for object detection. Among the functionalities that this integration adds to the Khepera IV in generating guided driving are trajectory tracking for safe navigation and the detection of traffic signs for decision-making. We built a robotic platform to test the system in real time. We also compared it with a digital model of the Khepera IV in the CoppeliaSim simulator. The navigation control results show significant improvements over previous works. This is evident in both the maximum navigation speed and the hit rate of the traffic sign detection system. We also analyzed the navigation control, which achieved an average success rate of 93%. The architecture allows testing new control techniques or algorithms based on Python, facilitating future improvements.
  • Miniatura
    Publicación
    Simulation and Experimental Results of a New Control Strategy For Point Stabilization of Nonholonomic Mobile Robots
    (IEEE, 2019-08-22) Farias, Gonzalo; Garcia, Gonzalo; Dormido Bencomo, Sebastián; Fábregas Acosta, Ernesto; Aranda Escolástico, Ernesto; Chaos García, Dictino; Dormido Canto, Sebastián
    This article presents a closed-loop position control of a mobile robot, which is capable of moving from its current position to a target point by manipulating its linear and angular velocities. The main objective of this article is to modify an existing control law based on the kinematic model to improve the response when the robot is backwards oriented and to reach the destination point in less time and with a shorter trajectory. Stability of the proposed control law is validated by Lyapunov Criterion. Some procedures are implemented to test this approach both in simulation with MATLAB, and experimentally with the Khepera IV robot.