Este trabajo presenta un enfoque basado en la teoría del álgebra lineal, los métodos numéricos y una modificación al método de fuerza ficticia, para la navegación de robots móviles en entornos dinámicos. Para el diseño del controlador se utiliza el modelo dinámico de un robot móvil no holonómico tipo uniciclo. Trabajos anteriores a menudo ignoran la dinámica del robot, por lo que sufren de singularidades en sus algoritmos. Los resultados de simulación y experimentación confirman la factibilidad y efectividad del controlador propuesto, logrando que el robot sea capaz de adaptar su comportamiento al nivel del conocimiento disponible y navegar de manera segura en entornos no estructurados, mientras se minimiza el error de seguimiento.
array:24 [ "pii" => "S1697791209700962" "issn" => "16977912" "doi" => "10.1016/S1697-7912(09)70096-2" "estado" => "S300" "fechaPublicacion" => "2009-04-01" "aid" => "70096" "copyright" => "Elsevier España, S.L.. Todos los derechos reservados" "copyrightAnyo" => "2009" "documento" => "article" "crossmark" => 0 "licencia" => "http://creativecommons.org/licenses/by-nc-nd/3.0/" "subdocumento" => "fla" "cita" => "Revista Iberoamericana de Automática e Informática industrial. 2009;6:79-88" "abierto" => array:3 [ "ES" => true "ES2" => true "LATM" => true ] "gratuito" => true "lecturas" => array:2 [ "total" => 3360 "formatos" => array:3 [ "EPUB" => 27 "HTML" => 1515 "PDF" => 1818 ] ] "itemSiguiente" => array:19 [ "pii" => "S1697791209700974" "issn" => "16977912" "doi" => "10.1016/S1697-7912(09)70097-4" "estado" => "S300" "fechaPublicacion" => "2009-04-01" "aid" => "70097" "copyright" => "Elsevier España, S.L." "documento" => "article" "crossmark" => 0 "licencia" => "http://creativecommons.org/licenses/by-nc-nd/3.0/" "subdocumento" => "fla" "cita" => "Revista Iberoamericana de Automática e Informática industrial. 2009;6:89-97" "abierto" => array:3 [ "ES" => true "ES2" => true "LATM" => true ] "gratuito" => true "lecturas" => array:2 [ "total" => 2588 "formatos" => array:3 [ "EPUB" => 35 "HTML" => 1318 "PDF" => 1235 ] ] "es" => array:9 [ "idiomaDefecto" => true "titulo" => "Eliminación de Interferencia Armónica para la Detección de Fallas en Motores Eléctricos" "tienePdf" => "es" "tieneTextoCompleto" => 0 "tieneResumen" => "es" "paginas" => array:1 [ 0 => array:2 [ "paginaInicial" => "89" "paginaFinal" => "97" ] ] "contieneResumen" => array:1 [ "es" => true ] "contienePdf" => array:1 [ "es" => true ] "autores" => array:1 [ 0 => array:2 [ "autoresLista" => "Guillermo A. Magallán, Cristian H. De Angelo, Guillermo O. García" "autores" => array:3 [ 0 => array:2 [ "nombre" => "Guillermo A." "apellidos" => "Magallán" ] 1 => array:2 [ "nombre" => "Cristian H." "apellidos" => "De Angelo" ] 2 => array:2 [ "nombre" => "Guillermo O." "apellidos" => "García" ] ] ] ] ] "idiomaDefecto" => "es" "EPUB" => "https://multimedia.elsevier.es/PublicationsMultimediaV1/item/epub/S1697791209700974?idApp=UINPBA00004N" "url" => "/16977912/0000000600000002/v1_201305061435/S1697791209700974/v1_201305061435/es/main.assets" ] "itemAnterior" => array:19 [ "pii" => "S1697791209700950" "issn" => "16977912" "doi" => "10.1016/S1697-7912(09)70095-0" "estado" => "S300" "fechaPublicacion" => "2009-04-01" "aid" => "70095" "copyright" => "Elsevier España, S.L." "documento" => "article" "crossmark" => 0 "licencia" => "http://creativecommons.org/licenses/by-nc-nd/3.0/" "subdocumento" => "fla" "cita" => "Revista Iberoamericana de Automática e Informática industrial. 2009;6:69-78" "abierto" => array:3 [ "ES" => true "ES2" => true "LATM" => true ] "gratuito" => true "lecturas" => array:2 [ "total" => 2649 "formatos" => array:3 [ "EPUB" => 18 "HTML" => 1173 "PDF" => 1458 ] ] "es" => array:9 [ "idiomaDefecto" => true "titulo" => "Modulación Vectorial de Inversores Multinivel con Diodos de Enclavamiento con Balance del Bus de Continua" "tienePdf" => "es" "tieneTextoCompleto" => 0 "tieneResumen" => "es" "paginas" => array:1 [ 0 => array:2 [ "paginaInicial" => "69" "paginaFinal" => "78" ] ] "contieneResumen" => array:1 [ "es" => true ] "contienePdf" => array:1 [ "es" => true ] "autores" => array:1 [ 0 => array:2 [ "autoresLista" => "Santiago A. Verne, Sergio A. González, María I. Valla" "autores" => array:3 [ 0 => array:2 [ "nombre" => "Santiago A." "apellidos" => "Verne" ] 1 => array:2 [ "nombre" => "Sergio A." "apellidos" => "González" ] 2 => array:2 [ "nombre" => "María I." "apellidos" => "Valla" ] ] ] ] ] "idiomaDefecto" => "es" "EPUB" => "https://multimedia.elsevier.es/PublicationsMultimediaV1/item/epub/S1697791209700950?idApp=UINPBA00004N" "url" => "/16977912/0000000600000002/v1_201305061435/S1697791209700950/v1_201305061435/es/main.assets" ] "es" => array:11 [ "idiomaDefecto" => true "titulo" => "Navegación de Robots Móviles en Entornos no Estructurados utilizando Álgebra Lineal" "tieneTextoCompleto" => 0 "paginas" => array:1 [ 0 => array:2 [ "paginaInicial" => "79" "paginaFinal" => "88" ] ] "autores" => array:1 [ 0 => array:3 [ "autoresLista" => "Andrés Rosales, Gustavo Scaglia, Vicente Mut, Fernando di Sciascio" "autores" => array:4 [ 0 => array:4 [ "nombre" => "Andrés" "apellidos" => "Rosales" "email" => array:1 [ 0 => "arosales@inaut.unsj.edu.ar" ] "referencia" => array:1 [ 0 => array:2 [ "etiqueta" => "<span class="elsevierStyleSup">*</span>" "identificador" => "aff0005" ] ] ] 1 => array:4 [ "nombre" => "Gustavo" "apellidos" => "Scaglia" "email" => array:1 [ 0 => "gscaglia@unsj.edu.ar" ] "referencia" => array:1 [ 0 => array:2 [ "etiqueta" => "<span class="elsevierStyleSup">**</span>" "identificador" => "aff0015" ] ] ] 2 => array:3 [ "nombre" => "Vicente" "apellidos" => "Mut" "referencia" => array:1 [ 0 => array:2 [ "etiqueta" => "<span class="elsevierStyleSup">*</span>" "identificador" => "aff0005" ] ] ] 3 => array:3 [ "nombre" => "Fernando" "apellidos" => "di Sciascio" "referencia" => array:1 [ 0 => array:2 [ "etiqueta" => "<span class="elsevierStyleSup">*</span>" "identificador" => "aff0005" ] ] ] ] "afiliaciones" => array:2 [ 0 => array:3 [ "entidad" => "Instituto de Automática, Universidad Nacional de San Juan, Av. Libertador San Martín 1109 (oeste), San Juan, Argentina" "etiqueta" => "<span class="elsevierStyleSup">*</span>" "identificador" => "aff0005" ] 1 => array:3 [ "entidad" => "Instituto de Ingeniería Química, Universidad Nacional de San Juan, Av Libertador San Martín 1109 (oeste), San Juan, Argentina" "etiqueta" => "<span class="elsevierStyleSup">**</span>" "identificador" => "aff0015" ] ] ] ] "pdfFichero" => "main.pdf" "tienePdf" => true "PalabrasClave" => array:1 [ "es" => array:1 [ 0 => array:4 [ "clase" => "keyword" "titulo" => "Palabras clave" "identificador" => "xpalclavsec108985" "palabras" => array:5 [ 0 => "álgebra lineal" 1 => "evasión de obstáculos" 2 => "fuerza ficticia" 3 => "modelo dinámico" 4 => "robot móvil" ] ] ] ] "tieneResumen" => true "resumen" => array:1 [ "es" => array:2 [ "titulo" => "Resumen" "resumen" => "<p id="spar0005" class="elsevierStyleSimplePara elsevierViewall">Este trabajo presenta un enfoque basado en la teoría del álgebra lineal, los métodos numéricos y una modificación al método de fuerza ficticia, para la navegación de robots móviles en entornos dinámicos. Para el diseño del controlador se utiliza el modelo dinámico de un robot móvil no holonómico tipo uniciclo. Trabajos anteriores a menudo ignoran la dinámica del robot, por lo que sufren de singularidades en sus algoritmos. Los resultados de simulación y experimentación confirman la factibilidad y efectividad del controlador propuesto, logrando que el robot sea capaz de adaptar su comportamiento al nivel del conocimiento disponible y navegar de manera segura en entornos no estructurados, mientras se minimiza el error de seguimiento.</p>" ] ] "bibliografia" => array:2 [ "titulo" => "Referencias" "seccion" => array:1 [ 0 => array:2 [ "identificador" => "bibs0005" "bibliografiaReferencia" => array:29 [ 0 => array:3 [ "identificador" => "bib1" "etiqueta" => "Borenstein and Koren, 1991" "referencia" => array:1 [ 0 => array:2 [ "contribucion" => array:1 [ 0 => array:2 [ "titulo" => "The vector field histogram-fast obstacle avoidance for mobile robots" "autores" => array:1 [ 0 => array:2 [ "etal" => false "autores" => array:2 [ 0 => "J. Borenstein" 1 => "Y. Koren" ] ] ] ] ] "host" => array:1 [ 0 => array:1 [ "Revista" => array:4 [ "tituloSerie" => "IEEE Transact. on Robotics and Autom" "fecha" => "1991" "paginaInicial" => "278" "paginaFinal" => "288" ] ] ] ] ] ] 1 => array:3 [ "identificador" => "bib2" "etiqueta" => "Connolly et al., 1990" "referencia" => array:1 [ 0 => array:2 [ "contribucion" => array:1 [ 0 => array:2 [ "titulo" => "Path planning using Laplace's equation" "autores" => array:1 [ 0 => array:2 [ "etal" => false "autores" => array:3 [ 0 => "C. Connolly" 1 => "J. Burns" 2 => "R. Weiss" ] ] ] ] ] "host" => array:1 [ 0 => array:1 [ "LibroEditado" => array:4 [ "paginaInicial" => "2102" "paginaFinal" => "2106" "conferencia" => "Proc. IEEE Int. Conf. on Robotics and Automation" "serieFecha" => "1990" ] ] ] ] ] ] 2 => array:3 [ "identificador" => "bib3" "etiqueta" => "De la Cruz, 2006" "referencia" => array:1 [ 0 => array:2 [ "contribucion" => array:1 [ 0 => array:2 [ "titulo" => "«Control de Formación de Robots Móviles,» Tesis Doctoral" "autores" => array:1 [ 0 => array:2 [ "etal" => false "autores" => array:1 [ 0 => "C. De la Cruz" ] ] ] ] ] "host" => array:1 [ 0 => array:1 [ "Revista" => array:2 [ "tituloSerie" => "INAUT - UNSJ" "fecha" => "2006" ] ] ] ] ] ] 3 => array:3 [ "identificador" => "bib4" "etiqueta" => "Fox et al., 1997" "referencia" => array:1 [ 0 => array:2 [ "contribucion" => array:1 [ 0 => array:2 [ "titulo" => "The dynamic window approach to collision avoidance" "autores" => array:1 [ 0 => array:2 [ "etal" => false "autores" => array:3 [ 0 => "D. Fox" 1 => "W. Burgard" 2 => "S. Thrun" ] ] ] ] ] "host" => array:1 [ 0 => array:2 [ "doi" => "10.1109/TNSRE.2015.2410773" "Revista" => array:4 [ "tituloSerie" => "IEEE Robotics & Automation Magazine" "fecha" => "1997" "volumen" => "4" "link" => array:1 [ 0 => array:2 [ "url" => "https://www.ncbi.nlm.nih.gov/pubmed/25769168" "web" => "Medline" ] ] ] ] ] ] ] ] 4 => array:3 [ "identificador" => "bib5" "etiqueta" => "Fraichard and Asama, 2003" "referencia" => array:1 [ 0 => array:2 [ "contribucion" => array:1 [ 0 => array:2 [ "titulo" => "Inevitable collision states: a step towards safer robots?" "autores" => array:1 [ 0 => array:2 [ "etal" => false "autores" => array:2 [ 0 => "T. Fraichard" 1 => "H. Asama" ] ] ] ] ] "host" => array:1 [ 0 => array:1 [ "LibroEditado" => array:2 [ "conferencia" => "IEEE Int. Conf. on Intelligent Robots and Systems, IROS" "serieFecha" => "2003" ] ] ] ] ] ] 5 => array:3 [ "identificador" => "bib6" "etiqueta" => "Fraichard and Scheuer, 1994" "referencia" => array:1 [ 0 => array:2 [ "contribucion" => array:1 [ 0 => array:2 [ "titulo" => "Car-like robots and moving obstacles" "autores" => array:1 [ 0 => array:2 [ "etal" => false "autores" => array:2 [ 0 => "T. Fraichard" 1 => "A. Scheuer" ] ] ] ] ] "host" => array:1 [ 0 => array:1 [ "LibroEditado" => array:2 [ "conferencia" => "IEEE Int. Conf. on Robotics and Automation ICRA" "serieFecha" => "1994" ] ] ] ] ] ] 6 => array:3 [ "identificador" => "bib7" "etiqueta" => "Jang et al., 2004" "referencia" => array:1 [ 0 => array:2 [ "contribucion" => array:1 [ 0 => array:2 [ "titulo" => "Collision Avoidance and Control of a Mobile Robot Using a Hybrid Force Control Algorithm" "autores" => array:1 [ 0 => array:2 [ "etal" => false "autores" => array:3 [ 0 => "E. Jang" 1 => "S. Jung" 2 => "T. Hsia" ] ] ] ] ] "host" => array:1 [ 0 => array:1 [ "LibroEditado" => array:4 [ "paginaInicial" => "413" "paginaFinal" => "418" "conferencia" => "IEEE Industrial Electronics Society, 30th Annual Conf" "serieFecha" => "2004" ] ] ] ] ] ] 7 => array:3 [ "identificador" => "bib8" "etiqueta" => "Jung et al., 2005" "referencia" => array:1 [ 0 => array:2 [ "contribucion" => array:1 [ 0 => array:2 [ "titulo" => "Collision Avoidance of a Mobile Robot Using Intelligent Hybrid Force Control Technique" "autores" => array:1 [ 0 => array:2 [ "etal" => false "autores" => array:3 [ 0 => "S. Jung" 1 => "E. Jang" 2 => "T. Hsia" ] ] ] ] ] "host" => array:1 [ 0 => array:1 [ "LibroEditado" => array:4 [ "paginaInicial" => "4418" "paginaFinal" => "4423" "conferencia" => "Proc, IEEE Int. Conf. on Robotics and Automation" "serieFecha" => "2005" ] ] ] ] ] ] 8 => array:3 [ "identificador" => "bib9" "etiqueta" => "Latombe, 1991" "referencia" => array:1 [ 0 => array:2 [ "contribucion" => array:1 [ 0 => array:1 [ "autores" => array:1 [ 0 => array:2 [ "etal" => false "autores" => array:1 [ 0 => "J.C. Latombe" ] ] ] ] ] "host" => array:1 [ 0 => array:1 [ "Libro" => array:3 [ "fecha" => "1991" "editorial" => "The Netherlands Kluwer" "editorialLocalizacion" => "Dordrecht" ] ] ] ] ] ] 9 => array:3 [ "identificador" => "bib10" "etiqueta" => "Masoud, 1996" "referencia" => array:1 [ 0 => array:2 [ "contribucion" => array:1 [ 0 => array:2 [ "titulo" => "Using hybrid vector-harmonic potential fields for multi-robot, multi-target navigation in a stationary environment, Proc" "autores" => array:1 [ 0 => array:2 [ "etal" => false "autores" => array:1 [ 0 => "A. Masoud" ] ] ] ] ] "host" => array:1 [ 0 => array:1 [ "LibroEditado" => array:4 [ "paginaInicial" => "3564" "paginaFinal" => "3571" "conferencia" => "IEEE Int. Conf. Robotics and Automation" "serieFecha" => "1996" ] ] ] ] ] ] 10 => array:3 [ "identificador" => "bib11" "etiqueta" => "Myers and Vlacic, 2005" "referencia" => array:1 [ 0 => array:2 [ "contribucion" => array:1 [ 0 => array:2 [ "titulo" => "Autonomous Driving in a Time-Varying Environment" "autores" => array:1 [ 0 => array:2 [ "etal" => false "autores" => array:2 [ 0 => "T. Myers" 1 => "L. Vlacic" ] ] ] ] ] "host" => array:1 [ 0 => array:1 [ "Revista" => array:4 [ "tituloSerie" => "IEEE - Advanced Robotics and its Social Impacts" "fecha" => "2005" "paginaInicial" => "53" "paginaFinal" => "58" ] ] ] ] ] ] 11 => array:3 [ "identificador" => "bib12" "etiqueta" => "Nak and Simmons, 1998" "referencia" => array:1 [ 0 => array:2 [ "contribucion" => array:1 [ 0 => array:2 [ "titulo" => "The lane-curvature method for local obstacle avoidance" "autores" => array:1 [ 0 => array:2 [ "etal" => false "autores" => array:2 [ 0 => "Y.K. Nak" 1 => "R. Simmons" ] ] ] ] ] "host" => array:1 [ 0 => array:1 [ "LibroEditado" => array:2 [ "conferencia" => "IEEE Int. Conf. on Robotics and Automation, ICRA" "serieFecha" => "1998" ] ] ] ] ] ] 12 => array:3 [ "identificador" => "bib13" "etiqueta" => "Owen and Montano, 2006" "referencia" => array:1 [ 0 => array:2 [ "contribucion" => array:1 [ 0 => array:2 [ "titulo" => "A robocentric motion planner for dynamic environments using the velocity space" "autores" => array:1 [ 0 => array:2 [ "etal" => false "autores" => array:2 [ 0 => "E. Owen" 1 => "L. Montano" ] ] ] ] ] "host" => array:1 [ 0 => array:1 [ "LibroEditado" => array:2 [ "conferencia" => "IEEE Int. Conf. Intelligent Robots and Systems, IROS" "serieFecha" => "2006" ] ] ] ] ] ] 13 => array:3 [ "identificador" => "bib14" "etiqueta" => "Poty et al., 2004" "referencia" => array:1 [ 0 => array:2 [ "contribucion" => array:1 [ 0 => array:2 [ "titulo" => "Dynamic path planning by fractional potential" "autores" => array:1 [ 0 => array:2 [ "etal" => false "autores" => array:3 [ 0 => "A. Poty" 1 => "P. Melchior" 2 => "A. Oustaloup" ] ] ] ] ] "host" => array:1 [ 0 => array:1 [ "Revista" => array:4 [ "tituloSerie" => "Computational Cybernetics - ICCC" "fecha" => "2004" "paginaInicial" => "365" "paginaFinal" => "371" ] ] ] ] ] ] 14 => array:3 [ "identificador" => "bib15" "etiqueta" => "Rosales et al., 2009" "referencia" => array:1 [ 0 => array:2 [ "contribucion" => array:1 [ 0 => array:2 [ "titulo" => "Trajectory Tracking of Mobile Robots in Dynamic Environments: A Linear Algebra Approach" "autores" => array:1 [ 0 => array:2 [ "etal" => false "autores" => array:4 [ 0 => "A. Rosales" 1 => "G. Scaglia" 2 => "V. Mut" 3 => "F. di Sciascio" ] ] ] ] ] "host" => array:1 [ 0 => array:1 [ "Libro" => array:2 [ "fecha" => "2009" "editorial" => "Robotica Cambridge University Press" ] ] ] ] ] ] 15 => array:3 [ "identificador" => "bib16" "etiqueta" => "Rosales et al., 2006a" "referencia" => array:1 [ 0 => array:2 [ "contribucion" => array:1 [ 0 => array:2 [ "titulo" => "Controller Designed by means of Numeric Methods for a Benchmark Problem: RTAC (Rotational Translational Actuator)" "autores" => array:1 [ 0 => array:2 [ "etal" => false "autores" => array:4 [ 0 => "A. Rosales" 1 => "G. Scaglia" 2 => "V. Mut" 3 => "F. di Sciascio" ] ] ] ] ] "host" => array:1 [ 0 => array:1 [ "LibroEditado" => array:4 [ "paginaInicial" => "97" "paginaFinal" => "104" "conferencia" => "IEEE - Electronics, Robotics and Automotive Mechanics Conf" "serieFecha" => "2006" ] ] ] ] ] ] 16 => array:3 [ "identificador" => "bib17" "etiqueta" => "Rosales et al., 2006b" "referencia" => array:1 [ 0 => array:1 [ "referenciaCompleta" => "Rosales A., Scaglia G., Mut V., di Sciascio F., (2006b). «Diseño de un Controlador mediante Métodos Numéricos para un Problema No Lineal Clásico: RTAC (Rotational Translational Actuator)», XII Cong. Latinoam. de Control Automático - CLCA." ] ] ] 17 => array:3 [ "identificador" => "bib18" "etiqueta" => "Scaglia et al., 2006" "referencia" => array:1 [ 0 => array:1 [ "referenciaCompleta" => "Scaglia G., Quintero O., Mut V., di Sciascio F., (2006). «Diseño de un Controlador basado en Métodos Algebraicos: Aplicación a Robotica Movil,» XII Cong. Latinoam. de Control Automático - CLCA." ] ] ] 18 => array:3 [ "identificador" => "bib19" "etiqueta" => "Scaglia et al., 2007" "referencia" => array:1 [ 0 => array:2 [ "contribucion" => array:1 [ 0 => array:2 [ "titulo" => "Tracking Control of a Mobile Robot using Linear Interpolation" "autores" => array:1 [ 0 => array:2 [ "etal" => false "autores" => array:4 [ 0 => "G. Scaglia" 1 => "V. Mut" 2 => "A. Rosales" 3 => "O. Quintero" ] ] ] ] ] "host" => array:1 [ 0 => array:1 [ "Libro" => array:2 [ "fecha" => "2007" "editorial" => "IMAACA" ] ] ] ] ] ] 19 => array:3 [ "identificador" => "bib20" "etiqueta" => "Scaglia et al., 2008" "referencia" => array:1 [ 0 => array:2 [ "contribucion" => array:1 [ 0 => array:2 [ "titulo" => "Numerical Methods based Controller design for Mobile Robots" "autores" => array:1 [ 0 => array:2 [ "etal" => false "autores" => array:4 [ 0 => "G. Scaglia" 1 => "O. Quintero" 2 => "V. Mut" 3 => "F. di Sciascio" ] ] ] ] ] "host" => array:1 [ 0 => array:1 [ "Libro" => array:2 [ "fecha" => "2008" "editorial" => "Robotica Cambridge University Press" ] ] ] ] ] ] 20 => array:3 [ "identificador" => "bib21" "etiqueta" => "Scaglia et al., 2009" "referencia" => array:1 [ 0 => array:2 [ "contribucion" => array:1 [ 0 => array:2 [ "titulo" => "A Linear-Interpolation based Controller Design for Path Tracking of Mobile Robots" "autores" => array:1 [ 0 => array:2 [ "etal" => false "autores" => array:4 [ 0 => "G. Scaglia" 1 => "A. Rosales" 2 => "O. Quintero" 3 => "R. Agarwal" ] ] ] ] ] "host" => array:1 [ 0 => array:1 [ "Revista" => array:2 [ "tituloSerie" => "Control Engineering and Practice" "fecha" => "2009" ] ] ] ] ] ] 21 => array:3 [ "identificador" => "bib22" "etiqueta" => "Seder et al., 2005" "referencia" => array:1 [ 0 => array:2 [ "contribucion" => array:1 [ 0 => array:2 [ "titulo" => "An integrated approach to realtime mobile robot control in partially known indoor environments" "autores" => array:1 [ 0 => array:2 [ "etal" => false "autores" => array:3 [ 0 => "M. Seder" 1 => "K. Macek" 2 => "I. Petrovic" ] ] ] ] ] "host" => array:1 [ 0 => array:1 [ "LibroEditado" => array:2 [ "conferencia" => "Proc. Conf. IEEE Industrial Electronics Society" "serieFecha" => "2005" ] ] ] ] ] ] 22 => array:3 [ "identificador" => "bib23" "etiqueta" => "Simmons, 1996" "referencia" => array:1 [ 0 => array:2 [ "contribucion" => array:1 [ 0 => array:2 [ "titulo" => "The curvature-velocity method for local obstacle avoidance" "autores" => array:1 [ 0 => array:2 [ "etal" => false "autores" => array:1 [ 0 => "R. Simmons" ] ] ] ] ] "host" => array:1 [ 0 => array:1 [ "LibroEditado" => array:2 [ "conferencia" => "IEEE Int. Conf. on Robotics and Automation, ICRA" "serieFecha" => "1996" ] ] ] ] ] ] 23 => array:3 [ "identificador" => "bib24" "etiqueta" => "Stachniss and Burgard, 2002" "referencia" => array:1 [ 0 => array:2 [ "contribucion" => array:1 [ 0 => array:2 [ "titulo" => "An integrated approach to goal directed obstacle avoidance under dynamic constraints for dynamic environments" "autores" => array:1 [ 0 => array:2 [ "etal" => false "autores" => array:2 [ 0 => "C. Stachniss" 1 => "W. Burgard" ] ] ] ] ] "host" => array:1 [ 0 => array:1 [ "LibroEditado" => array:2 [ "conferencia" => "IEEE Int. Conf. Intelligent Robots and Systems, IROS" "serieFecha" => "2002" ] ] ] ] ] ] 24 => array:3 [ "identificador" => "bib25" "etiqueta" => "Strang, 1980" "referencia" => array:1 [ 0 => array:2 [ "contribucion" => array:1 [ 0 => array:2 [ "titulo" => "Linear Algebra and its Applications" "autores" => array:1 [ 0 => array:2 [ "etal" => false "autores" => array:1 [ 0 => "G. Strang" ] ] ] ] ] "host" => array:1 [ 0 => array:1 [ "Libro" => array:3 [ "fecha" => "1980" "editorial" => "Academic Press" "editorialLocalizacion" => "New York" ] ] ] ] ] ] 25 => array:3 [ "identificador" => "bib26" "etiqueta" => "Tian et al., 2007" "referencia" => array:1 [ 0 => array:2 [ "contribucion" => array:1 [ 0 => array:2 [ "titulo" => "Dynamic Collision Avoidance Path Planning for Mobile Robot Based on Multi-sensor Data Fusion by Support Vector Machine" "autores" => array:1 [ 0 => array:2 [ "etal" => false "autores" => array:3 [ 0 => "J. Tian" 1 => "M. Gao" 2 => "E. Lu" ] ] ] ] ] "host" => array:1 [ 0 => array:1 [ "LibroEditado" => array:4 [ "paginaInicial" => "2779" "paginaFinal" => "2783" "conferencia" => "Int. Conf. on Mechatronics and Automation, ICMA07" "serieFecha" => "2007" ] ] ] ] ] ] 26 => array:3 [ "identificador" => "bib27" "etiqueta" => "Ulrich and Borenstein, 2000" "referencia" => array:1 [ 0 => array:2 [ "contribucion" => array:1 [ 0 => array:2 [ "titulo" => "VFH*: local obstacle avoidance with look ahead verification" "autores" => array:1 [ 0 => array:2 [ "etal" => false "autores" => array:2 [ 0 => "I. Ulrich" 1 => "J. Borenstein" ] ] ] ] ] "host" => array:1 [ 0 => array:1 [ "LibroEditado" => array:4 [ "paginaInicial" => "2505" "paginaFinal" => "2511" "conferencia" => "Proc. of the IEEE Int. Conf. on Robotics and Automation" "serieFecha" => "2000" ] ] ] ] ] ] 27 => array:3 [ "identificador" => "bib28" "etiqueta" => "Ulrich and Borenstein, 1998" "referencia" => array:1 [ 0 => array:2 [ "contribucion" => array:1 [ 0 => array:2 [ "titulo" => "VFH+: reliable obstacle avoidance for fast mobile robots" "autores" => array:1 [ 0 => array:2 [ "etal" => false "autores" => array:2 [ 0 => "I. Ulrich" 1 => "J. Borenstein" ] ] ] ] ] "host" => array:1 [ 0 => array:1 [ "LibroEditado" => array:4 [ "paginaInicial" => "1572" "paginaFinal" => "1577" "conferencia" => "Proc. IEEE Int. Conf. on Robotics and Automation" "serieFecha" => "1998" ] ] ] ] ] ] 28 => array:3 [ "identificador" => "bib29" "etiqueta" => "Wang et al., 2006" "referencia" => array:1 [ 0 => array:2 [ "contribucion" => array:1 [ 0 => array:2 [ "titulo" => "A Variable Speed Force Field Method for Multi-Robot Collaboration" "autores" => array:1 [ 0 => array:2 [ "etal" => false "autores" => array:3 [ 0 => "D. Wang" 1 => "D. Liu" 2 => "G. Dissanayake" ] ] ] ] ] "host" => array:1 [ 0 => array:1 [ "LibroEditado" => array:4 [ "paginaInicial" => "2697" "paginaFinal" => "2702" "conferencia" => "Proc. Int. Conf. on Intelligent Robots and Systems" "serieFecha" => "2006" ] ] ] ] ] ] ] ] ] ] ] "idiomaDefecto" => "es" "url" => "/16977912/0000000600000002/v1_201305061435/S1697791209700962/v1_201305061435/es/main.assets" "Apartado" => array:4 [ "identificador" => "8138" "tipo" => "SECCION" "es" => array:2 [ "titulo" => "Sección Especial: Sección Especial: Asociación Argentina de Control Automático" "idiomaDefecto" => true ] "idiomaDefecto" => "es" ] "PDF" => "https://static.elsevier.es/multimedia/16977912/0000000600000002/v1_201305061435/S1697791209700962/v1_201305061435/es/main.pdf?idApp=UINPBA00004N&text.app=https://www.elsevier.es/" "EPUB" => "https://multimedia.elsevier.es/PublicationsMultimediaV1/item/epub/S1697791209700962?idApp=UINPBA00004N" ]