Diseño e implementación de un sistema basado en aprendizaje automático que facilite la percepción robótica del entorno por medio de sensores láser

The project presented below, has as an objective to realize a system based on machine learning methods, that allows a mobile robot to recognize and identify the objects found in the internal environments of the Autónoma de Occidente University, by using a low cost LIDAR sensor. Because at the present time there is no sensor that gives a robot the capability to perceive and recognize the environment in which it is located. For this purpose, a system based on free software was designed, where the data acquisition was carried out together with one of the groups belonging to the robotics research group of the UAO directed by Dr. Victor Adolfo Romero Cano, conformed by Natali Velandia and Otoniel Rodríguez, making use of the laser sensor "hokuyo urg-04lx-ug01". In addition, different methods for processing point clouds were studied, since these are the final result of data acquisition with a laser sensor, the different methods for extracting characteristics were also studied and finally different machine learning techniques such as multi-layer perceptron and support vector machines were investigated and implemented to perform the classification. The final result was an integrated system, where the expectations were met, since the delicate processing of the point clouds and the correct extraction of characteristics contributed to the correct performance of the implemented classification methods ; El proyecto presentado a continuación, tiene como objetivo realizar un sistema basado en métodos de aprendizaje automático, que le permita a un robot móvil reconocer e identificar los objetos encontrados en entornos internos de la Universidad Autónoma de Occidente, por medio de un sensor LIDAR de bajo costo. Pues no existe actualmente un sensor que le brinde a un robot la capacidad de percibir y reconocer simultáneamente el ambiente en el que se encuentra. Para ello se diseñó un sistema basado en software libre haciendo uso del sensor laser "hokuyo urg-04lx-ug01”. Se estudiaron diferentes métodos para el procesamiento de ...