Graphical interface for the control of the trajectory following of a sanitizing robot in controlled spaces

Graphical interface for the control of the trajectory following of a sanitizing robot in controlled spaces

In the present work, a Development Graphical User Interface for interaction with a tridimensional simulation model of a sanitizing robot in a simulated room is proposed for navigation algorithms tests implemented on it. At the same time, the behaviors of exploration and disinfection path planning ar...

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Autores principales: Miguélez Machado, Carlos Guillermo, Soto Marrufo, Ángel Israel, Ponce Monarrez, Israel Ulises, García Luna, Francesco
Formato: Online
Lenguaje:spa
Publicado: Universidad Autónoma de Baja California 2021
Acceso en línea:https://recit.uabc.mx/index.php/revista/article/view/167
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spelling recit-article-1672023-04-01T02:22:06Z Graphical interface for the control of the trajectory following of a sanitizing robot in controlled spaces Interfaz gráfica para el control de seguimiento de trayectorias de un robot sanitizador en espacios controlados Miguélez Machado, Carlos Guillermo Soto Marrufo, Ángel Israel Ponce Monarrez, Israel Ulises García Luna, Francesco Interfaz gráfica de usuario Robot desinfectante Modelo simulado del robot Planificación de trayectorias y seguimiento de trayectorias Graphic user interface Sanitizing robot Simulated model of the robot Path planning and trajectory tracking In the present work, a Development Graphical User Interface for interaction with a tridimensional simulation model of a sanitizing robot in a simulated room is proposed for navigation algorithms tests implemented on it. At the same time, the behaviors of exploration and disinfection path planning are implemented. The simulated model of the robot is based on the Omnidirectional Nexus 4WOmni Wheel of which the kinematic model is also proposed. Additionally, a graphic user interface to give basic commands to the simulated robot is proposed. The results of the implementation are proved through the implementation of navigation algorithms to the robot, also the behaviors of exploration, path planning, and disinfection trajectory tracking, and interaction of the graphic interface with the simulation. En el presente trabajo se propone un Desarrollo de Interfaz Gráfica de Usuario para la interacción con un modelo de simulación tridimensional de un robot higienizador en una sala simulada para las pruebas de algoritmos de navegación implementados en el mismo. Al mismo tiempo, se implementan los comportamientos de exploración y planificación de rutas de desinfección. El modelo simulado del robot se basa en la Rueda Omnidireccional Nexus 4WOmni de la que también se propone el modelo cinemático. Además, se propone una interfaz gráfica de usuario para dar comandos básicos al robot simulado. Los resultados de la implementación se comprueban mediante la implementación de algoritmos de navegación al robot, también los comportamientos de exploración, planificación de rutas y seguimiento de trayectoria de desinfección e interacción de la interfaz gráfica con la simulación. Universidad Autónoma de Baja California 2021-11-24 info:eu-repo/semantics/article info:eu-repo/semantics/publishedVersion application/pdf text/html text/xml https://recit.uabc.mx/index.php/revista/article/view/167 10.37636/recit.v44353364 REVISTA DE CIENCIAS TECNOLÓGICAS; Vol. 4 No. 4 (2021): October-December; 353-364 REVISTA DE CIENCIAS TECNOLÓGICAS; Vol. 4 Núm. 4 (2021): Octubre-Diciembre; 353-364 2594-1925 spa https://recit.uabc.mx/index.php/revista/article/view/167/264 https://recit.uabc.mx/index.php/revista/article/view/167/265 https://recit.uabc.mx/index.php/revista/article/view/167/266 Copyright (c) 2021 Carlos Guillermo Miguélez Machado, Ángel Israel Soto Marrufo, Israel Ulises Ponce Monarrez, Francesco García Luna https://creativecommons.org/licenses/by/4.0
institution RECIT
collection OJS
language spa
format Online
author Miguélez Machado, Carlos Guillermo
Soto Marrufo, Ángel Israel
Ponce Monarrez, Israel Ulises
García Luna, Francesco
spellingShingle Miguélez Machado, Carlos Guillermo
Soto Marrufo, Ángel Israel
Ponce Monarrez, Israel Ulises
García Luna, Francesco
Graphical interface for the control of the trajectory following of a sanitizing robot in controlled spaces
author_facet Miguélez Machado, Carlos Guillermo
Soto Marrufo, Ángel Israel
Ponce Monarrez, Israel Ulises
García Luna, Francesco
author_sort Miguélez Machado, Carlos Guillermo
title Graphical interface for the control of the trajectory following of a sanitizing robot in controlled spaces
title_short Graphical interface for the control of the trajectory following of a sanitizing robot in controlled spaces
title_full Graphical interface for the control of the trajectory following of a sanitizing robot in controlled spaces
title_fullStr Graphical interface for the control of the trajectory following of a sanitizing robot in controlled spaces
title_full_unstemmed Graphical interface for the control of the trajectory following of a sanitizing robot in controlled spaces
title_sort graphical interface for the control of the trajectory following of a sanitizing robot in controlled spaces
description In the present work, a Development Graphical User Interface for interaction with a tridimensional simulation model of a sanitizing robot in a simulated room is proposed for navigation algorithms tests implemented on it. At the same time, the behaviors of exploration and disinfection path planning are implemented. The simulated model of the robot is based on the Omnidirectional Nexus 4WOmni Wheel of which the kinematic model is also proposed. Additionally, a graphic user interface to give basic commands to the simulated robot is proposed. The results of the implementation are proved through the implementation of navigation algorithms to the robot, also the behaviors of exploration, path planning, and disinfection trajectory tracking, and interaction of the graphic interface with the simulation.
publisher Universidad Autónoma de Baja California
publishDate 2021
url https://recit.uabc.mx/index.php/revista/article/view/167
_version_ 1792095371801919488

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