Browsing by Author "Pérez Paina, Gonzalo"

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    Acoplamiento en la estimación de la orientación y la altura mediante filtro extendido de Kalman.
    (Universidad Tecnológica Nacional Regional Córdoba., 2016) Paz, Claudio; Pérez Paina, Gonzalo; Pucheta, Martín Alejo; Pucheta, Martín Alejo
    Los multicópteros han ganado gran popularidad en los últimos años por su capacidad de suspenderse en el aire manteniendo la posición, y de esta manera realizar tareas que antes requerían cos tosa infraestructura o simplemente no eran posibles, como la captura de imágenes desde grandes alturas, inspecciones de lugares peligrosos como los interiores de torres de centrales térmicas, represas, puentes, líneas de transmisión de energía eléctrica, etc. La posición del multicóptero en general es determinada por GPS o con algoritmos visuales. Sin embargo, el GPS tiene grandes errores en la estimación de la altura, y la estimación de posición relativa mediante odometría visual necesita asistencia de un sensor de altura para resolver el problema de escala. Para determinar la altura de un vehículo mediante un sonar o cualquier sensor de rango, es importante tener en cuenta la orientación del vehículo ya que al estar rígidamente vinculados, los cambios en la orientación hacen que el eje de sensibilidad del sensor detecte una distancia mayor de la que se encuentra al suelo realmente. Este error en la estimación de la altura no solo provocaría un error en la escala sino además produciría una posible pérdida de sustentación. Esto es muy común en multicópteros ya que para cambiar de posición, deben perder balance en elsentido que se espera el movimiento. En general, la orientación es tenida en cuenta en la estimación de altura con sonar, pero de una manera desacoplada, por un lado se determina la orientación y por otro la altura teniendo en cuenta la orientación ya calculada. En este trabajo se presenta un filtro de Kalman que acopla la orienta ción del vehículo con la medición de la distancia al suelo medida por un sensor de rango para determinar la altura. Se demuestra que utilizando el filtro acoplado se atenúa el ruido del sensor al mismo tiempo que se disminuye el error en la estimación de la altura. Se muestran resultados obtenidos en simulaciones y con data-sets públicos.
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    Differential-drive Mobile Robot Controller with ROS 2 Support.
    (Revista Elektron, 2023) Albarrán, Gustavo; Nicolodi, Juan; Ruiz, Dante; González Dondo, Diego; Pérez Paina, Gonzalo
    Autonomous Mobile Robots, known as AMRs, are used in the internal logistics of many types of industries and production sectors. This type of robots replaces the traditional Automated Guided Vehicles (AGVs). In the case of AGVs, the path to follow is previously defined, and these robots do not have the ability to choose a different path. On the other hand, AMRs are more flexible, safe, and precise, due to the incorporation of technologies reserved until recently for research, such as autonomous navigation, computer vision systems, and Simultaneous Localization and Mapping (SLAM) technology, among others. Many of these technologies are implemented using the Robot Operating System (ROS). ROS is a set of free and open-source software libraries and tools for building robot applications. Its new version, ROS 2, was developed to be applied to production environments. This paper describes the development of a controller for a differential-drive AMR with support for ROS 2 using its implementation for embedded systems, micro-ROS. This controller is the evolution of a previous version that was used in different mobile robots for over 10 years at CIII (UTN). It is worth clarifying that this work is mainly focused on hardware development. However, some preliminary software tests have been carried out, mainly to evaluate the correct functioning of the differential-drive robot controller. Firstly, the design requirements are defined, and a microcontroller with native support for micro-ROS is selected. Then, the development of each controller stage is described, such as the power supply, the USB communication, the battery voltage sensing, the debugging port, and the final PCB design. Finally, the initial software tests that allow verifying the correct operation of the controller and the improvements compared to the previous version are mentioned. Keywords: autonomous mobile robot; differential drive; embedded controller; ROS 2; micro-ROS
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    Monocular simultaneous localization and mapping system for a wheeled mobile robot
    (2013) Pérez Paina, Gonzalo; Destéfanis, Eduardo
    The present work describes the implementation of a monocular visual SLAM applied to a wheeled mobile robot moving in an indoor environment. It will be described the whole system and details of each part of the current implementation. Parts comprising the system include the estimation filter together with both motion and measurement models, as well as a set of computer vision algorithms for image processing and data association. The implemented visual SLAM make use of the latest techniques for undelayed landmark initialization which are required given the partially observability of bearing only SLAM. Presented results show the performance of the implementation mainly for robot pose estimation, from which it can be observed a highly accurate result in robot orientation estimation.
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    RoMAA-II, an open architecture mobile robot
    (IEEE LATIN AMERICAN TRANSACTION, 2014) Pérez Paina, Gonzalo; Araguás, Roberto Gastón; Gaydou, David Alejandro; Canali, Luis Rafael
    The aim of designing and developing an open architecture mobile robot called RoMAA (in accordance with its name in Spanish) arises from the necessity to have a vehicle suitable for carrying out different experiments in the robotics research field. This vehicle has to have the ability to be easily adapted to different experiments in the research field of mobile robotics and computer vision. The present paper describes in detail the development of the final version of the robot –RoMAA- II– as an improvement of the original version RoMAA. The different parts that compose the robot are described which include the electromechanical components, the onboard embedded system, along with the high level software running in the on-board computer; together with the description of its more relevant characteristics. Nowadays, four fully operational RoMAA-II robots are available in the CIII, which are regularly used for experiments of different research projects.
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    Trajectory planning for an unmanned quadrotor.
    (Universidad Tecnológica Nacional Regional Córdoba., 2016) Pucheta, Martín Alejo; Alberto, Nicolás; Paz, Claudio; Pérez Paina, Gonzalo
    . The quadrotor is an unmanned aerial vehicle (UAV) popular for its low-cost and broad range of application fields, inspection in harvesting environments, surveillance, cinematographic filmation, among others. Most of these applications are easily achieved if a set of predefined programmed trajecto ries or tasks are selected from a database of automatic tasks safety performed inside the limit cycle and compatible with actuators bounds. This paper presents two controllers that simultaneously coordinates the position and orientation motions of a quadrotor. The first controller is based on Euler angles and the second on quaternions. The equations of motion for the quadrotor are computed and simulated using Euler angles by means of a first-order reduction of the nonlinear Newton-Euler equations. This simulator of the plant is used to supply the observed state to simulate both controllers. The generation of trajec- tories with bounded derivatives on the velocities is used to provide continuous actions on the actuators and also prevent their saturation, enabling the minimization of trajectory tracking errors and reducing or avoiding the overshooting. Finally, the simulation for three kinematic tasks, a circle, a 8-shape, and a square trajectory are shown to test the controller behaviors and adjust their gains.