diff --git a/memoria/bibliografia.bib b/memoria/bibliografia.bib index 32c9811..614b0cf 100644 --- a/memoria/bibliografia.bib +++ b/memoria/bibliografia.bib @@ -61,6 +61,25 @@ @Inbook{Wang2022 url="https://doi.org/10.1007/978-981-19-1983-1_7" } +@Electronic{agv-vs-amr, + Title = {\textit{AMR vs AGV - What's the difference?}}, + howpublished= {\url{https://www.mobile-industrial-robots.com/insights/get-started-with-amrs/agv-vs-amr-whats-the-difference/}}, + author = {MiR}, + year = {2023} +} + +@article{10.3389/fmech.2020.00011, + author={Maiorino, Andrea and Muscolo, Giovanni Gerardo}, + title={Biped Robots With Compliant Joints for Walking and Running Performance Growing}, + journal={Frontiers in Mechanical Engineering}, + volume={6}, + year={2020}, + url={https://www.frontiersin.org/articles/10.3389/fmech.2020.00011}, + doi={10.3389/fmech.2020.00011}, + issn={2297-3079}, + abstract={This paper deals with the problem of compliance in biped robots locomotion. After a first literature review, we designed and simulated a 3D virtual model of a biped robot conceived with the same link dimensions (and weights) of a standard man. In all simulation, the same input to the robot actuators are proposed, modifying only the compliance of the attached links. We first validated the model and then compared results increasing and reducing compliance on hip, knee and ankle joints. The very good results underline how the robot performances may be increased including the compliant element in the knee. In particular, we noted how including a proper value of the compliance in the knee, power and torque of the actuators may be reduced increasing robot speed.} +} + @Electronic{kettering-bug, Title = {\textit{Kettering Aerial Torpedo “Bug”}}, howpublished= {\url{https://www.nationalmuseum.af.mil/Visit/Museum-Exhibits/Fact-Sheets/Display/Article/198095/kettering-aerial-torpedo-bug/}}, diff --git a/memoria/capitulos/capitulo1.tex b/memoria/capitulos/capitulo1.tex index 344aa85..b3a5e07 100644 --- a/memoria/capitulos/capitulo1.tex +++ b/memoria/capitulos/capitulo1.tex @@ -11,21 +11,23 @@ \chapter{Introducción} \begin{enumerate} \item \textbf{Robótica industrial}: que involucra mecanismos fijos, capaces de realizar tareas de manera rápida, precisa y eficiente. Como es el caso de los brazos robóticos \cite{industrial-robot}. - \item \textbf{Robótica móvil}: la cual abarca el resto de dispositivos no mencionados, que engloba múltiples entornos y aplicaciones, como pueden ser, robótica aérea, terrestre y submarina \cite{mobile-robot}. + \item \textbf{Robótica móvil}: la cual abarca a los dispositivos móviles que se engloban en múltiples entornos y aplicaciones, como pueden ser, robótica aérea, terrestre y submarina \cite{mobile-robot}. \end{enumerate} \begin{figure} [h] \centering - \subfigure[Robot industrial ABB]{\includegraphics[height=4cm]{imagenes/cap1/1_industrial_robot.jpeg}} + \subfigure[Robot industrial ABB]{\includegraphics[height=3cm]{imagenes/cap1/1_industrial_robot.jpeg}} \quad - \subfigure[Robot móvil Spot]{\includegraphics[height=4cm]{imagenes/cap1/2_mobile_robot.jpeg}} + \subfigure[Robot móvil Spot]{\includegraphics[height=3cm]{imagenes/cap1/2_mobile_robot.jpeg}} + \quad + \subfigure[Robot móvil aéreo]{\includegraphics[height=3cm]{imagenes/cap1/1-5_real_drone.jpeg}} \caption{Robótica industrial VS robótica móvil} \label{fig:industrial_vs_mobile} \end{figure} -Como tal, la robótica es especialmente buena a la hora de resolver tareas repetitivas, peligrosas, delicadas y en ambientes problemáticos (conocidas como las 4 D's, \emph{dull, dirty, dangerous and dear}) \cite{4-d}. Sin embargo, uno de los problemas más complicados de abordar, es el \textbf{contexto}, es decir, la capacidad de entender y adaptarse a las circunstancias del problema. Es ahí, donde se presenta el segundo gran protagonista, la \ac{IA} \cite{dworakowski2020robots}.\\ +Como tal, la robótica ayuda a resolver tareas repetitivas, peligrosas, delicadas y en ambientes problemáticos (conocidas como las 4 D's, \emph{dull, dirty, dangerous and dear}) \cite{4-d}. Sin embargo, uno de los problemas más complicados de abordar, es el \textbf{contexto}, es decir, la capacidad de entender y adaptarse a las circunstancias del problema, como por ejemplo en el caso de la conducción autónoma, donde detectar un simple peatón, puede derivar en infinitos inconvenientes (condiciones de visibilidad, clima, atuendo, entre muchos otros). Es ahí, donde se presenta el segundo gran protagonista, la \ac{IA} \cite{dworakowski2020robots}.\\ -Pero antes de entrar en materia, primero hay que definir los conceptos básicos uno a uno, como: ¿qué es exactamente un robot? ¿qué tipo de robot usaremos? ¿en qué consiste la \ac{IA} y que emplearemos? ¿cómo funcionan las señales que rastrearemos? entre otras cuestiones. +A continuación se definirán conceptos básicos como: ¿qué es exactamente un robot? ¿qué tipo de robot usaremos? ¿en qué consiste la \ac{IA} y que emplearemos? ¿cómo funcionan las señales que rastrearemos? entre otras cuestiones. \section{Robots} \label{sec:robots} @@ -40,9 +42,9 @@ \section{Robots} \label{fig:robot_def} \end{figure} -Según el problema que se quiera resolver conviene usar unos u otros. En nuestro caso buscamos un robot con capacidad de navegar, preferiblemente grandes distancias y que pueda tomar medidas de la intensidad de una señal. De este modo, para el primer punto se tenían dos opciones, o bien un robot terrestre, o bien un robot aéreo. Para el segundo punto no influye ya que se podía incluir el sensor en cualquier dispositivo.\\ +Según el problema que se quiera resolver conviene usar unos u otros. En nuestro caso buscamos un robot con capacidad de navegar, preferiblemente grandes distancias y que pueda tomar medidas de la intensidad de una señal de forma autónoma.\\ -Finalmente, y dadas las características del problema, se opta por la solución aérea, ya que permite barrer grandes superficies sin depender de la orografía terreno. +Existen múltiples robots capaces de satisfacer estas condiciones, vease, los AGV/AMR o plataformas robóticas terrestres ampliamente empleadas logística \cite{agv-vs-amr}; robots bipedos, los cuales emulan el movimiento humanoide, lo que aumenta su adaptabilidad a cualquier entorno real (ya que el mundo esta diseñado para la biomecánica humana), sin embargo, es bastante complejo replicar la marcha bípeda \cite{10.3389/fmech.2020.00011}; y por último, drones, las cuales detallaremos a continuación. \subsection{Drones} \label{subsec:drones} @@ -60,7 +62,6 @@ \subsection{Drones} \label{fig:drone_history} \end{figure} -\newpage Existen múltiples avances y ejemplos posteriores, pero en la actualidad podemos definir un \textbf{\ac{UAS}} teniendo en cuenta lo siguiente: \begin{enumerate} @@ -83,17 +84,19 @@ \subsection{Drones} Tal y como fue mencionado, la gran ventaja del uso de vehículos aéreos es poder evitar las irregularidades del terreno, sin embargo, hay ligados al uso de estos dispositivos ciertos problemas, como son el clima, la carga de pago que afecta a la autonomía (peso de las baterías), los interiores (afectan a la señal GPS), entre otros. Esto, se debe tener en cuenta de cara a la resolución del problema.\\ +Agrupando la robótica y los drones, se pueden observar múltiples ejemplos de uso, uno muy conocido es el de un dron \emph{``sigue-persona''}, el cual permite a un \ac{SUAV} detectar y moverse al son de un objetivo móvil, tal y como puede ser una persona. Todo esto en síntesis con técnicas de \ac{IA}, la cual introduciremos a continuación. + \section{Inteligencia artificial} \label{subsec:inteligencia_artificial} -El segundo pilar mencionado en este \ac{TFG}, es el de la \ac{IA}, pero, ¿de dónde surge esto?. Quizás, la primera pregunta que se buscó responder fue la siguiente \textbf{¿Puede una máquina pensar?}, formulada en \emph{``Computing Machinery and Intelligence''} (Alan Turing, 1950), de donde surgió el famoso test de Turing, entre otras ideas \cite{turing-paper}. La búsqueda de la \ac{IA} enfrentó desafíos iniciales debido a la incapacidad de las primeras computadoras para almacenar datos y su elevado precio. Sin embargo, en 1956, se presentó el primer programa de \ac{IA} llamado \textbf{Logic Theorist} en el \textbf{Dartmouth Summer Research Project on Artificial Intelligence} \cite{logic-theorist}. Con el tiempo, la IA progresó con mejores algoritmos y mejoras en la capacidad de las computadoras. A pesar de esto, lograr los objetivos finales de la IA, como comprender el lenguaje humano y el pensamiento abstracto, sigue siendo un desafío a día de hoy \cite{history-ai}.\\ +La \ac{IA} ha tenido un auge importante en los últimos años, especialmente en el ámbito de la robótica dado su amplio abanico de soluciones sinérgicas con la misma, sin embargo, conviene conocer lo origenes. Quizás, la primera pregunta que se buscó responder fue la siguiente \textbf{¿Puede una máquina pensar?}, formulada en \emph{``Computing Machinery and Intelligence''} (Alan Turing, 1950), de donde surgió el famoso test de Turing, entre otras ideas \cite{turing-paper}. La búsqueda de la \ac{IA} enfrentó desafíos iniciales debido a la incapacidad de las primeras computadoras para almacenar datos y su elevado precio. Sin embargo, en 1956, se presentó el primer programa de \ac{IA} llamado \textbf{Logic Theorist} en el \textbf{Dartmouth Summer Research Project on Artificial Intelligence} \cite{logic-theorist}. Con el tiempo, la IA progresó con mejores algoritmos y mejoras en la capacidad de las computadoras. A pesar de esto, lograr los objetivos finales de la IA, como comprender el lenguaje humano y el pensamiento abstracto, sigue siendo un desafío a día de hoy \cite{history-ai}.\\ En general, la \ac{IA} es capaz de abordar los siguientes problemas: \begin{enumerate} \item \textbf{Predicción}: que busca adelantar una respuesta precisa, con ciertos datos de entrada. Por ejemplo, predecir el precio de una vivienda en función de sus metros cuadrados. - \item \textbf{Clasificación}: que engloba datos en grupos según sus características. Como puede ser, detectar rostros de personas en imagenes. + \item \textbf{Clasificación}: que engloba datos en grupos según sus características. Como puede ser, detectar rostros de personas en imágenes. \item \textbf{Aprendizaje}: Que busca resolver un problema a base de prueba y error, mediante un sistema de recompensas. Como por ejemplo, el juego del ajedrez, donde se busque ganar en el menor número de movimientos posibles. \end{enumerate} \cite{reg-class} diff --git a/memoria/imagenes/cap1/1-5_real_drone.jpeg b/memoria/imagenes/cap1/1-5_real_drone.jpeg new file mode 100644 index 0000000..0a2abf4 Binary files /dev/null and b/memoria/imagenes/cap1/1-5_real_drone.jpeg differ diff --git a/memoria/memoria.aux b/memoria/memoria.aux index a5ff579..e8c5d0e 100644 --- a/memoria/memoria.aux +++ b/memoria/memoria.aux @@ -32,9 +32,6 @@ \AC@undonewlabel{acro:RF} \newlabel{acro:RF}{{}{\es@scroman {ii}}{Resumen\markboth {Resumen}{Resumen}}{section*.5}{}} \acronymused{RF} -\AC@undonewlabel{acro:ROS} -\newlabel{acro:ROS}{{}{\es@scroman {ii}}{Resumen\markboth {Resumen}{Resumen}}{section*.6}{}} -\acronymused{ROS} \newacro{RAE}[\AC@hyperlink{RAE}{RAE}]{Real Academia Española} \newacro{TFG}[\AC@hyperlink{TFG}{TFG}]{Trabajo de Fin de Grado} \newacro{UAV}[\AC@hyperlink{UAV}{UAV}]{\emph {Unmanned Air Vehicles}} @@ -49,6 +46,8 @@ \newacro{RSSI}[\AC@hyperlink{RSSI}{RSSI}]{\emph {Received Signal Strength Indicator}} \newacro{SNR}[\AC@hyperlink{SNR}{SNR}]{\emph {Signal to Noise Ratio}} \newacro{PLE}[\AC@hyperlink{PLE}{PLE}]{\emph {Path-Loss Exponent}} +\AC@undonewlabel{acro:ROS} +\newlabel{acro:ROS}{{}{\es@scroman {iv}}{\contentsname \@mkboth {\MakeUppercase \contentsname }{\MakeUppercase \contentsname }}{section*.8}{}} \acronymused{ROS} \citation{rae-robotica} \citation{revista-de-robots} @@ -71,6 +70,7 @@ \newlabel{fig:industrial_vs_mobile}{{1.1}{2}{Robótica industrial VS robótica móvil\relax }{figure.caption.13}{}} \@writefile{lof}{\contentsline {subfigure}{\numberline{(a)}{\ignorespaces {Robot industrial ABB}}}{2}{figure.caption.13}\protected@file@percent } \@writefile{lof}{\contentsline {subfigure}{\numberline{(b)}{\ignorespaces {Robot móvil Spot}}}{2}{figure.caption.13}\protected@file@percent } +\@writefile{lof}{\contentsline {subfigure}{\numberline{(c)}{\ignorespaces {Robot móvil aéreo}}}{2}{figure.caption.13}\protected@file@percent } \AC@undonewlabel{acro:IA} \newlabel{acro:IA}{{1}{2}{Introducción}{section*.14}{}} \acronymused{IA} @@ -79,6 +79,8 @@ \newlabel{sec:robots}{{1.1}{2}{Robots}{section.1.1}{}} \@writefile{lof}{\contentsline {figure}{\numberline {1.2}{\ignorespaces Definición de robot}}{2}{figure.caption.15}\protected@file@percent } \newlabel{fig:robot_def}{{1.2}{2}{Definición de robot}{figure.caption.15}{}} +\citation{agv-vs-amr} +\citation{10.3389/fmech.2020.00011} \citation{kettering-bug} \citation{queen-bee} \citation{operation-aphrodite} @@ -408,46 +410,48 @@ \bibcite{4-d}{{5}{}{{}}{{}}} \bibcite{dworakowski2020robots}{{6}{}{{}}{{}}} \bibcite{Wang2022}{{7}{}{{}}{{}}} -\bibcite{kettering-bug}{{8}{}{{}}{{}}} -\bibcite{queen-bee}{{9}{}{{}}{{}}} -\bibcite{operation-aphrodite}{{10}{}{{}}{{}}} +\bibcite{agv-vs-amr}{{8}{}{{}}{{}}} +\bibcite{10.3389/fmech.2020.00011}{{9}{}{{}}{{}}} +\bibcite{kettering-bug}{{10}{}{{}}{{}}} \@writefile{toc}{\contentsline {chapter}{Bibliograf\'{\i }a}{50}{appendix*.73}\protected@file@percent } -\bibcite{uas-definicion}{{11}{}{{}}{{}}} -\bibcite{gcs-definicion}{{12}{}{{}}{{}}} -\bibcite{data-link-definicion}{{13}{}{{}}{{}}} -\bibcite{drone-regulation}{{14}{}{{}}{{}}} -\bibcite{turing-paper}{{15}{}{{}}{{}}} -\bibcite{logic-theorist}{{16}{}{{}}{{}}} -\bibcite{history-ai}{{17}{}{{}}{{}}} -\bibcite{reg-class}{{18}{}{{}}{{}}} -\bibcite{learn}{{19}{}{{}}{{}}} -\bibcite{psicologia-aprendizaje}{{20}{}{{}}{{}}} -\bibcite{skinner}{{21}{}{{}}{{}}} -\bibcite{q-learning}{{22}{}{{}}{{}}} -\bibcite{friis-1}{{23}{}{{}}{{}}} -\bibcite{friis-2}{{24}{}{{}}{{}}} -\bibcite{friis-3}{{25}{}{{}}{{}}} -\bibcite{tfm-pedro}{{26}{}{{}}{{}}} -\bibcite{paper-ia-dron}{{27}{}{{}}{{}}} -\bibcite{tiobe}{{28}{}{{}}{{}}} -\bibcite{python-history}{{29}{}{{}}{{}}} -\bibcite{python-def}{{30}{}{{}}{{}}} -\bibcite{compiled-vs-interpreted}{{31}{}{{}}{{}}} -\bibcite{c-history}{{32}{}{{}}{{}}} -\bibcite{middleware-def}{{33}{}{{}}{{}}} -\bibcite{ros-def}{{34}{}{{}}{{}}} -\bibcite{gazebo-def}{{35}{}{{}}{{}}} -\bibcite{rviz-def}{{36}{}{{}}{{}}} -\bibcite{vscode-def}{{37}{}{{}}{{}}} -\bibcite{github-def}{{38}{}{{}}{{}}} -\bibcite{opencv-def}{{39}{}{{}}{{}}} -\bibcite{matplotlib-def}{{40}{}{{}}{{}}} -\bibcite{flight-controller}{{41}{}{{}}{{}}} -\bibcite{px4-def}{{42}{}{{}}{{}}} -\bibcite{px4-mavlink}{{43}{}{{}}{{}}} -\bibcite{px4-mavros}{{44}{}{{}}{{}}} -\bibcite{jderobot-ref}{{45}{}{{}}{{}}} -\bibcite{flight-modes}{{46}{}{{}}{{}}} -\bibcite{basics-signals}{{47}{}{{}}{{}}} -\bibcite{poly-info}{{48}{}{{}}{{}}} +\bibcite{queen-bee}{{11}{}{{}}{{}}} +\bibcite{operation-aphrodite}{{12}{}{{}}{{}}} +\bibcite{uas-definicion}{{13}{}{{}}{{}}} +\bibcite{gcs-definicion}{{14}{}{{}}{{}}} +\bibcite{data-link-definicion}{{15}{}{{}}{{}}} +\bibcite{drone-regulation}{{16}{}{{}}{{}}} +\bibcite{turing-paper}{{17}{}{{}}{{}}} +\bibcite{logic-theorist}{{18}{}{{}}{{}}} +\bibcite{history-ai}{{19}{}{{}}{{}}} +\bibcite{reg-class}{{20}{}{{}}{{}}} +\bibcite{learn}{{21}{}{{}}{{}}} +\bibcite{psicologia-aprendizaje}{{22}{}{{}}{{}}} +\bibcite{skinner}{{23}{}{{}}{{}}} +\bibcite{q-learning}{{24}{}{{}}{{}}} +\bibcite{friis-1}{{25}{}{{}}{{}}} +\bibcite{friis-2}{{26}{}{{}}{{}}} +\bibcite{friis-3}{{27}{}{{}}{{}}} +\bibcite{tfm-pedro}{{28}{}{{}}{{}}} +\bibcite{paper-ia-dron}{{29}{}{{}}{{}}} +\bibcite{tiobe}{{30}{}{{}}{{}}} +\bibcite{python-history}{{31}{}{{}}{{}}} +\bibcite{python-def}{{32}{}{{}}{{}}} +\bibcite{compiled-vs-interpreted}{{33}{}{{}}{{}}} +\bibcite{c-history}{{34}{}{{}}{{}}} +\bibcite{middleware-def}{{35}{}{{}}{{}}} +\bibcite{ros-def}{{36}{}{{}}{{}}} +\bibcite{gazebo-def}{{37}{}{{}}{{}}} +\bibcite{rviz-def}{{38}{}{{}}{{}}} +\bibcite{vscode-def}{{39}{}{{}}{{}}} +\bibcite{github-def}{{40}{}{{}}{{}}} +\bibcite{opencv-def}{{41}{}{{}}{{}}} +\bibcite{matplotlib-def}{{42}{}{{}}{{}}} +\bibcite{flight-controller}{{43}{}{{}}{{}}} +\bibcite{px4-def}{{44}{}{{}}{{}}} +\bibcite{px4-mavlink}{{45}{}{{}}{{}}} +\bibcite{px4-mavros}{{46}{}{{}}{{}}} +\bibcite{jderobot-ref}{{47}{}{{}}{{}}} +\bibcite{flight-modes}{{48}{}{{}}{{}}} +\bibcite{basics-signals}{{49}{}{{}}{{}}} +\bibcite{poly-info}{{50}{}{{}}{{}}} \providecommand\NAT@force@numbers{}\NAT@force@numbers diff --git a/memoria/memoria.bbl b/memoria/memoria.bbl index ba8a1f5..dfbf507 100644 --- a/memoria/memoria.bbl +++ b/memoria/memoria.bbl @@ -40,6 +40,19 @@ Jiefei Wang and Damith Herath. 177--203. \newblock Springer Nature Singapore, Singapore, 2022. +\bibitem{agv-vs-amr} +MiR. +\newblock \textit{AMR vs AGV - What's the difference?} +\newblock + \url{https://www.mobile-industrial-robots.com/insights/get-started-with-amrs/agv-vs-amr-whats-the-difference/}, + 2023. + +\bibitem{10.3389/fmech.2020.00011} +Andrea Maiorino and Giovanni~Gerardo Muscolo. +\newblock Biped robots with compliant joints for walking and running + performance growing. +\newblock {\em Frontiers in Mechanical Engineering}, 6, 2020. + \bibitem{kettering-bug} National~Museum of~the United States Air~Force. \newblock \textit{Kettering Aerial Torpedo “Bug”}. diff --git a/memoria/memoria.blg b/memoria/memoria.blg index f279cfd..b12496b 100644 --- a/memoria/memoria.blg +++ b/memoria/memoria.blg @@ -13,129 +13,131 @@ Warning--entry type for "mobile-robot" isn't style-file defined --line 24 of file bibliografia.bib Warning--entry type for "4-d" isn't style-file defined --line 31 of file bibliografia.bib -Warning--entry type for "kettering-bug" isn't style-file defined +Warning--entry type for "agv-vs-amr" isn't style-file defined --line 64 of file bibliografia.bib +Warning--entry type for "kettering-bug" isn't style-file defined +--line 83 of file bibliografia.bib Warning--entry type for "queen-bee" isn't style-file defined ---line 71 of file bibliografia.bib +--line 90 of file bibliografia.bib Warning--entry type for "operation-aphrodite" isn't style-file defined ---line 78 of file bibliografia.bib +--line 97 of file bibliografia.bib Warning--entry type for "uas-definicion" isn't style-file defined ---line 85 of file bibliografia.bib +--line 104 of file bibliografia.bib Warning--entry type for "gcs-definicion" isn't style-file defined ---line 92 of file bibliografia.bib +--line 111 of file bibliografia.bib Warning--entry type for "drone-regulation" isn't style-file defined ---line 107 of file bibliografia.bib +--line 126 of file bibliografia.bib Warning--entry type for "history-ai" isn't style-file defined ---line 139 of file bibliografia.bib +--line 158 of file bibliografia.bib Warning--entry type for "reg-class" isn't style-file defined ---line 146 of file bibliografia.bib +--line 165 of file bibliografia.bib Warning--entry type for "learn" isn't style-file defined ---line 153 of file bibliografia.bib +--line 172 of file bibliografia.bib Warning--entry type for "psicologia-aprendizaje" isn't style-file defined ---line 160 of file bibliografia.bib +--line 179 of file bibliografia.bib Warning--entry type for "skinner" isn't style-file defined ---line 167 of file bibliografia.bib -Repeated entry---line 174 of file bibliografia.bib +--line 186 of file bibliografia.bib +Repeated entry---line 193 of file bibliografia.bib : @inbook{data-link-definicion : , I'm skipping whatever remains of this entry Warning--entry type for "q-learning" isn't style-file defined ---line 182 of file bibliografia.bib +--line 201 of file bibliografia.bib Warning--entry type for "friis-1" isn't style-file defined ---line 189 of file bibliografia.bib +--line 208 of file bibliografia.bib Warning--entry type for "friis-2" isn't style-file defined ---line 196 of file bibliografia.bib +--line 215 of file bibliografia.bib Warning--entry type for "friis-3" isn't style-file defined ---line 203 of file bibliografia.bib +--line 222 of file bibliografia.bib Warning--entry type for "tfm-pedro" isn't style-file defined ---line 210 of file bibliografia.bib +--line 229 of file bibliografia.bib Warning--entry type for "tiobe" isn't style-file defined ---line 226 of file bibliografia.bib +--line 245 of file bibliografia.bib Warning--entry type for "python-history" isn't style-file defined ---line 233 of file bibliografia.bib +--line 252 of file bibliografia.bib Warning--entry type for "python-def" isn't style-file defined ---line 240 of file bibliografia.bib +--line 259 of file bibliografia.bib Warning--entry type for "compiled-vs-interpreted" isn't style-file defined ---line 247 of file bibliografia.bib +--line 266 of file bibliografia.bib Warning--entry type for "c-history" isn't style-file defined ---line 254 of file bibliografia.bib +--line 273 of file bibliografia.bib Warning--entry type for "middleware-def" isn't style-file defined ---line 261 of file bibliografia.bib +--line 280 of file bibliografia.bib Warning--entry type for "ros-def" isn't style-file defined ---line 268 of file bibliografia.bib -Repeated entry---line 275 of file bibliografia.bib +--line 287 of file bibliografia.bib +Repeated entry---line 294 of file bibliografia.bib : @electronic{ros-def : , I'm skipping whatever remains of this entry Warning--entry type for "gazebo-def" isn't style-file defined ---line 282 of file bibliografia.bib +--line 301 of file bibliografia.bib Warning--entry type for "rviz-def" isn't style-file defined ---line 289 of file bibliografia.bib +--line 308 of file bibliografia.bib Warning--entry type for "vscode-def" isn't style-file defined ---line 296 of file bibliografia.bib +--line 315 of file bibliografia.bib Warning--entry type for "github-def" isn't style-file defined ---line 303 of file bibliografia.bib +--line 322 of file bibliografia.bib Warning--entry type for "opencv-def" isn't style-file defined ---line 310 of file bibliografia.bib +--line 329 of file bibliografia.bib Warning--entry type for "matplotlib-def" isn't style-file defined ---line 317 of file bibliografia.bib +--line 336 of file bibliografia.bib Warning--entry type for "flight-controller" isn't style-file defined ---line 324 of file bibliografia.bib +--line 343 of file bibliografia.bib Warning--entry type for "px4-def" isn't style-file defined ---line 331 of file bibliografia.bib +--line 350 of file bibliografia.bib Warning--entry type for "px4-mavlink" isn't style-file defined ---line 338 of file bibliografia.bib +--line 357 of file bibliografia.bib Warning--entry type for "px4-mavros" isn't style-file defined ---line 345 of file bibliografia.bib +--line 364 of file bibliografia.bib Warning--entry type for "jderobot-ref" isn't style-file defined ---line 352 of file bibliografia.bib +--line 371 of file bibliografia.bib Warning--entry type for "flight-modes" isn't style-file defined ---line 359 of file bibliografia.bib +--line 378 of file bibliografia.bib Warning--entry type for "basics-signals" isn't style-file defined ---line 366 of file bibliografia.bib +--line 385 of file bibliografia.bib Warning--entry type for "poly-info" isn't style-file defined ---line 373 of file bibliografia.bib +--line 392 of file bibliografia.bib Warning--can't use both author and editor fields in Wang2022 Warning--empty chapter and pages in data-link-definicion -You've used 48 entries, +You've used 50 entries, 1791 wiz_defined-function locations, - 655 strings with 10024 characters, -and the built_in function-call counts, 6713 in all, are: -= -- 575 -> -- 215 + 664 strings with 10375 characters, +and the built_in function-call counts, 6993 in all, are: += -- 599 +> -- 227 < -- 1 -+ -- 102 -- -- 54 -* -- 115 -:= -- 1035 -add.period$ -- 142 -call.type$ -- 48 -change.case$ -- 46 ++ -- 107 +- -- 57 +* -- 122 +:= -- 1083 +add.period$ -- 148 +call.type$ -- 50 +change.case$ -- 48 chr.to.int$ -- 0 -cite$ -- 50 -duplicate$ -- 269 -empty$ -- 897 -format.name$ -- 54 -if$ -- 1600 +cite$ -- 52 +duplicate$ -- 282 +empty$ -- 929 +format.name$ -- 57 +if$ -- 1664 int.to.chr$ -- 0 -int.to.str$ -- 48 -missing$ -- 6 -newline$ -- 241 -num.names$ -- 48 -pop$ -- 281 +int.to.str$ -- 50 +missing$ -- 7 +newline$ -- 251 +num.names$ -- 50 +pop$ -- 288 preamble$ -- 1 purify$ -- 0 quote$ -- 0 -skip$ -- 160 +skip$ -- 168 stack$ -- 0 substring$ -- 78 -swap$ -- 58 +swap$ -- 60 text.length$ -- 1 text.prefix$ -- 0 top$ -- 0 type$ -- 0 warning$ -- 2 -while$ -- 54 -width$ -- 50 -write$ -- 482 +while$ -- 56 +width$ -- 52 +write$ -- 503 (There were 2 error messages) diff --git a/memoria/memoria.lof b/memoria/memoria.lof index 0fc68c7..1850474 100644 --- a/memoria/memoria.lof +++ b/memoria/memoria.lof @@ -3,6 +3,7 @@ \contentsline {figure}{\numberline {1.1}{\ignorespaces Robótica industrial VS robótica móvil\relax }}{2}{figure.caption.13}% \contentsline {subfigure}{\numberline {(a)}{\ignorespaces {Robot industrial ABB}}}{2}{figure.caption.13}% \contentsline {subfigure}{\numberline {(b)}{\ignorespaces {Robot móvil Spot}}}{2}{figure.caption.13}% +\contentsline {subfigure}{\numberline {(c)}{\ignorespaces {Robot móvil aéreo}}}{2}{figure.caption.13}% \contentsline {figure}{\numberline {1.2}{\ignorespaces Definición de robot}}{2}{figure.caption.15}% \contentsline {figure}{\numberline {1.3}{\ignorespaces Historia de los drones\relax }}{3}{figure.caption.17}% \contentsline {subfigure}{\numberline {(a)}{\ignorespaces {Kettering Bug}}}{3}{figure.caption.17}% diff --git a/memoria/memoria.log b/memoria/memoria.log index 47bf506..3ea1ac9 100644 --- a/memoria/memoria.log +++ b/memoria/memoria.log @@ -1,4 +1,4 @@ -This is pdfTeX, Version 3.14159265-2.6-1.40.20 (TeX Live 2019/Debian) (preloaded format=pdflatex 2023.7.19) 10 SEP 2023 13:59 +This is pdfTeX, Version 3.14159265-2.6-1.40.20 (TeX Live 2019/Debian) (preloaded format=pdflatex 2023.7.19) 15 SEP 2023 10:51 entering extended mode restricted \write18 enabled. %&-line parsing enabled. @@ -676,8 +676,6 @@ Underfull \hbox (badness 10000) in paragraph at lines 9--10 Package acronym Info: Label `acro:RF' newly defined as it shall be overridden although it is yet undefined on input line 11. -Package acronym Info: Label `acro:ROS' newly defined as it shall be overridden -although it is yet undefined on input line 11. ) (./portada/acronimos.tex [2 @@ -696,7 +694,10 @@ LaTeX Font Info: Trying to load font information for U+msb on input line 3. (/usr/share/texlive/texmf-dist/tex/latex/amsfonts/umsb.fd File: umsb.fd 2013/01/14 v3.01 AMS symbols B -) [4 +) +Package acronym Info: Label `acro:ROS' newly defined as it shall be overridden +although it is yet undefined on input line 17. + [4 ]) @@ -747,25 +748,36 @@ Underfull \hbox (badness 10000) in paragraph at lines 7--8 [] - + File: imagenes/cap1/1_industrial_robot.jpeg Graphic file (type jpg) Package pdftex.def Info: imagenes/cap1/1_industrial_robot.jpeg used on input l ine 19. -(pdftex.def) Requested size: 170.7792pt x 113.81102pt. - +(pdftex.def) Requested size: 128.08073pt x 85.35826pt. + +Underfull \hbox (badness 10000) in paragraph at lines 19--19 +[]\T1/cmr/m/n/12 (a) Robot industrial + [] + + File: imagenes/cap1/2_mobile_robot.jpeg Graphic file (type jpg) Package pdftex.def Info: imagenes/cap1/2_mobile_robot.jpeg used on input line 21. -(pdftex.def) Requested size: 202.32399pt x 113.81102pt. +(pdftex.def) Requested size: 151.72002pt x 85.35826pt. + +File: imagenes/cap1/1-5_real_drone.jpeg Graphic file (type jpg) + +Package pdftex.def Info: imagenes/cap1/1-5_real_drone.jpeg used on input line +23. +(pdftex.def) Requested size: 113.80379pt x 85.35826pt. LaTeX Warning: `h' float specifier changed to `ht'. Package acronym Info: Label `acro:IA' newly defined as it shall be overridden -although it is yet undefined on input line 26. +although it is yet undefined on input line 28. -Underfull \hbox (badness 10000) in paragraph at lines 26--27 +Underfull \hbox (badness 10000) in paragraph at lines 28--29 [] @@ -774,130 +786,135 @@ Underfull \hbox (badness 10000) in paragraph at lines 26--27 ] -Underfull \hbox (badness 10000) in paragraph at lines 33--34 +Underfull \hbox (badness 10000) in paragraph at lines 35--36 [] File: imagenes/cap1/3_robot.png Graphic file (type png) -Package pdftex.def Info: imagenes/cap1/3_robot.png used on input line 37. +Package pdftex.def Info: imagenes/cap1/3_robot.png used on input line 39. (pdftex.def) Requested size: 340.18611pt x 142.26378pt. -Underfull \hbox (badness 10000) in paragraph at lines 43--44 +Underfull \hbox (badness 10000) in paragraph at lines 45--46 [] -LaTeX Info: Redefining \. on input line 44. -LaTeX Info: Redefining \% on input line 44. +LaTeX Info: Redefining \. on input line 46. +LaTeX Info: Redefining \% on input line 46. [2 <./imagenes/cap1/1_industrial_robot.jpeg> <./imagenes/cap1/2_mobile_robot.jp -eg> <./imagenes/cap1/3_robot.png>] +eg> <./imagenes/cap1/1-5_real_drone.jpeg> <./imagenes/cap1/3_robot.png>] +Underfull \hbox (badness 1418) in paragraph at lines 47--48 +[]\T1/cmr/m/n/12 Existen mltiples robots capaces de satisfacer estas condicion +es, vease, los + [] + Package acronym Info: Label `acro:UAS' newly defined as it shall be overridden -although it is yet undefined on input line 50. +although it is yet undefined on input line 52. -Underfull \hbox (badness 10000) in paragraph at lines 50--51 +Underfull \hbox (badness 10000) in paragraph at lines 52--53 [] - + File: imagenes/cap1/4_kettering_bug.jpeg Graphic file (type jpg) Package pdftex.def Info: imagenes/cap1/4_kettering_bug.jpeg used on input line - 54. + 56. (pdftex.def) Requested size: 94.83955pt x 71.13188pt. - + File: imagenes/cap1/5_queen_bee.jpeg Graphic file (type jpg) -Package pdftex.def Info: imagenes/cap1/5_queen_bee.jpeg used on input line 56. +Package pdftex.def Info: imagenes/cap1/5_queen_bee.jpeg used on input line 58. (pdftex.def) Requested size: 177.65408pt x 71.13188pt. - + File: imagenes/cap1/6_aphrodite.jpeg Graphic file (type jpg) -Package pdftex.def Info: imagenes/cap1/6_aphrodite.jpeg used on input line 58. +Package pdftex.def Info: imagenes/cap1/6_aphrodite.jpeg used on input line 60. (pdftex.def) Requested size: 146.2568pt x 71.13188pt. -LaTeX Info: Redefining \. on input line 63. -LaTeX Info: Redefining \% on input line 63. +LaTeX Info: Redefining \. on input line 66. +LaTeX Info: Redefining \% on input line 66. [3 <./imagenes/cap1/4_kettering_bug.jpeg> <./imagenes/cap1/5_queen_bee.jpeg> <. /imagenes/cap1/6_aphrodite.jpeg>] Package acronym Info: Label `acro:GCS' newly defined as it shall be overridden -although it is yet undefined on input line 67. +although it is yet undefined on input line 68. -Underfull \hbox (badness 10000) in paragraph at lines 72--73 +Underfull \hbox (badness 10000) in paragraph at lines 73--74 [] - + File: imagenes/cap1/7_drone_components.jpeg Graphic file (type jpg) Package pdftex.def Info: imagenes/cap1/7_drone_components.jpeg used on input l -ine 76. +ine 77. (pdftex.def) Requested size: 227.94226pt x 170.71652pt. Package acronym Info: Label `acro:SUAV' newly defined as it shall be overridden -although it is yet undefined on input line 82. +although it is yet undefined on input line 83. -Underfull \hbox (badness 10000) in paragraph at lines 82--83 +Underfull \hbox (badness 10000) in paragraph at lines 83--84 [] -Underfull \hbox (badness 10000) in paragraph at lines 84--85 +Underfull \hbox (badness 10000) in paragraph at lines 85--86 [] -Underfull \hbox (badness 10000) in paragraph at lines 89--90 +Underfull \hbox (badness 10000) in paragraph at lines 90--91 [] -LaTeX Info: Redefining \. on input line 90. -LaTeX Info: Redefining \% on input line 90. +LaTeX Info: Redefining \. on input line 91. +LaTeX Info: Redefining \% on input line 91. [4 <./imagenes/cap1/7_drone_components.jpeg>] - + File: imagenes/cap1/8_AI_types.png Graphic file (type png) -Package pdftex.def Info: imagenes/cap1/8_AI_types.png used on input line 103. +Package pdftex.def Info: imagenes/cap1/8_AI_types.png used on input line 104. (pdftex.def) Requested size: 216.20804pt x 156.49014pt. -Underfull \hbox (badness 10000) in paragraph at lines 112--113 +Underfull \hbox (badness 10000) in paragraph at lines 113--114 [] -LaTeX Info: Redefining \. on input line 113. -LaTeX Info: Redefining \% on input line 113. +LaTeX Info: Redefining \. on input line 114. +LaTeX Info: Redefining \% on input line 114. [5 <./imagenes/cap1/8_AI_types.png>] - + File: imagenes/cap1/9_reinforcement.png Graphic file (type png) Package pdftex.def Info: imagenes/cap1/9_reinforcement.png used on input line -116. +117. (pdftex.def) Requested size: 242.15164pt x 113.81102pt. -Underfull \hbox (badness 10000) in paragraph at lines 122--123 +Underfull \hbox (badness 10000) in paragraph at lines 123--124 [] -LaTeX Info: Redefining \. on input line 126. -LaTeX Info: Redefining \% on input line 126. +LaTeX Info: Redefining \. on input line 127. +LaTeX Info: Redefining \% on input line 127. [6 <./imagenes/cap1/9_reinforcement.png (PNG copy)>] -Underfull \hbox (badness 10000) in paragraph at lines 130--131 +Underfull \hbox (badness 10000) in paragraph at lines 131--132 [] -Underfull \hbox (badness 10000) in paragraph at lines 132--133 +Underfull \hbox (badness 10000) in paragraph at lines 133--134 [] - + File: imagenes/cap1/10_friis.png Graphic file (type png) -Package pdftex.def Info: imagenes/cap1/10_friis.png used on input line 136. +Package pdftex.def Info: imagenes/cap1/10_friis.png used on input line 137. (pdftex.def) Requested size: 133.13867pt x 128.0374pt. -Underfull \hbox (badness 10000) in paragraph at lines 145--146 +Underfull \hbox (badness 10000) in paragraph at lines 146--147 [] @@ -974,7 +991,7 @@ Underfull \hbox (badness 10000) in paragraph at lines 50--51 [] - + File: imagenes/cap3/1_ros_esquema.png Graphic file (type png) Package pdftex.def Info: imagenes/cap3/1_ros_esquema.png used on input line 56 @@ -994,7 +1011,7 @@ S \T1/cmr/m/n/12 12 [] [12 <./imagenes/cap3/1_ros_esquema.png>] - + File: imagenes/cap3/2_gazebo_example.JPEG Graphic file (type jpg) Package pdftex.def Info: imagenes/cap3/2_gazebo_example.JPEG used on input lin @@ -1010,7 +1027,7 @@ Underfull \hbox (badness 10000) in paragraph at lines 82--83 [] - + File: imagenes/cap3/3_rviz_example.png Graphic file (type png) Package pdftex.def Info: imagenes/cap3/3_rviz_example.png used on input line 8 @@ -1035,7 +1052,7 @@ Underfull \hbox (badness 10000) in paragraph at lines 100--101 [] - + File: imagenes/cap3/4_vscode_logo.png Graphic file (type png) Package pdftex.def Info: imagenes/cap3/4_vscode_logo.png used on input line 10 @@ -1074,7 +1091,7 @@ Underfull \hbox (badness 10000) in paragraph at lines 127--128 [] - + File: imagenes/cap3/5_opencv_example.png Graphic file (type png) Package pdftex.def Info: imagenes/cap3/5_opencv_example.png used on input line @@ -1090,7 +1107,7 @@ Underfull \hbox (badness 10000) in paragraph at lines 142--143 [] - + File: imagenes/cap3/6_matplotlib_app.png Graphic file (type png) Package pdftex.def Info: imagenes/cap3/6_matplotlib_app.png used on input line @@ -1115,7 +1132,7 @@ Underfull \hbox (badness 10000) in paragraph at lines 157--158 [] - + File: imagenes/cap3/7_px4_logo.png Graphic file (type png) Package pdftex.def Info: imagenes/cap3/7_px4_logo.png used on input line 161. @@ -1125,7 +1142,7 @@ Underfull \hbox (badness 10000) in paragraph at lines 170--171 [] - + File: imagenes/cap3/8_iris_drone.png Graphic file (type png) Package pdftex.def Info: imagenes/cap3/8_iris_drone.png used on input line 174 @@ -1169,7 +1186,7 @@ Underfull \hbox (badness 10000) in paragraph at lines 20--21 [] - + File: imagenes/cap4/1_px4_drone_gz.png Graphic file (type png) Package pdftex.def Info: imagenes/cap4/1_px4_drone_gz.png used on input line 2 @@ -1203,7 +1220,7 @@ Underfull \hbox (badness 10000) in paragraph at lines 51--52 [] - + File: imagenes/cap4/2_axes_rc.png Graphic file (type png) Package pdftex.def Info: imagenes/cap4/2_axes_rc.png used on input line 55. @@ -1220,7 +1237,7 @@ Underfull \hbox (badness 10000) in paragraph at lines 63--64 [] - + File: imagenes/cap4/3_c2c_gui.png Graphic file (type png) Package pdftex.def Info: imagenes/cap4/3_c2c_gui.png used on input line 67. @@ -1284,7 +1301,7 @@ Underfull \hbox (badness 10000) in paragraph at lines 166--167 [] - + File: imagenes/cap4/4_PLE_table.png Graphic file (type png) Package pdftex.def Info: imagenes/cap4/4_PLE_table.png used on input line 170. @@ -1341,7 +1358,7 @@ Underfull \hbox (badness 10000) in paragraph at lines 234--235 [] - + File: imagenes/cap4/5_interference.png Graphic file (type png) Package pdftex.def Info: imagenes/cap4/5_interference.png used on input line 2 @@ -1374,7 +1391,7 @@ Underfull \hbox (badness 10000) in paragraph at lines 255--256 [] - + File: imagenes/cap4/6_Friss_firstGUI.png Graphic file (type png) Package pdftex.def Info: imagenes/cap4/6_Friss_firstGUI.png used on input line @@ -1392,7 +1409,7 @@ Underfull \hbox (badness 10000) in paragraph at lines 267--268 [] - + File: imagenes/cap4/7_Friss_endGUI.png Graphic file (type png) Package pdftex.def Info: imagenes/cap4/7_Friss_endGUI.png used on input line 2 @@ -1444,7 +1461,7 @@ Underfull \hbox (badness 1960) in paragraph at lines 314--315 rmiten transformar las [] - + File: imagenes/cap4/8_reference_system.png Graphic file (type png) Package pdftex.def Info: imagenes/cap4/8_reference_system.png used on input li @@ -1474,7 +1491,7 @@ Underfull \hbox (badness 10000) in paragraph at lines 338--339 [] - + File: imagenes/cap4/9_algoritmo_manual.png Graphic file (type png) Package pdftex.def Info: imagenes/cap4/9_algoritmo_manual.png used on input li @@ -1495,7 +1512,7 @@ Underfull \hbox (badness 10000) in paragraph at lines 355--356 [] - + File: imagenes/cap4/10_algoritmo_optimizado.png Graphic file (type png) Package pdftex.def Info: imagenes/cap4/10_algoritmo_optimizado.png used on inp @@ -1545,7 +1562,7 @@ Underfull \hbox (badness 10000) in paragraph at lines 386--387 [] - + File: imagenes/cap4/11_diagrama_training.png Graphic file (type png) Package pdftex.def Info: imagenes/cap4/11_diagrama_training.png used on input @@ -1575,7 +1592,7 @@ Underfull \hbox (badness 10000) in paragraph at lines 405--406 [] - + File: imagenes/cap4/12_puntos_30_esquina.png Graphic file (type png) Package pdftex.def Info: imagenes/cap4/12_puntos_30_esquina.png used on input @@ -1586,7 +1603,7 @@ Underfull \hbox (badness 10000) in paragraph at lines 415--416 [] - + File: imagenes/cap4/13_trayectorias_12.png Graphic file (type png) Package pdftex.def Info: imagenes/cap4/13_trayectorias_12.png used on input li @@ -1601,7 +1618,7 @@ LaTeX Info: Redefining \. on input line 426. LaTeX Info: Redefining \% on input line 426. [36 <./imagenes/cap4/12_puntos_30_esquina.png> <./imagenes/cap4/13_trayectorias _12.png>] - + File: imagenes/cap4/14_training_graph.png Graphic file (type png) Package pdftex.def Info: imagenes/cap4/14_training_graph.png used on input lin @@ -1612,7 +1629,7 @@ Underfull \hbox (badness 10000) in paragraph at lines 435--436 [] - + File: imagenes/cap4/15_avg_graphs.png Graphic file (type png) Package pdftex.def Info: imagenes/cap4/15_avg_graphs.png used on input line 43 @@ -1625,7 +1642,7 @@ Underfull \hbox (badness 10000) in paragraph at lines 448--449 [] - + File: imagenes/cap4/16_default_values.png Graphic file (type png) Package pdftex.def Info: imagenes/cap4/16_default_values.png used on input lin @@ -1644,7 +1661,7 @@ Underfull \hbox (badness 10000) in paragraph at lines 460--461 [] - + File: imagenes/cap4/17_mapa_p_centro_12.png Graphic file (type png) Package pdftex.def Info: imagenes/cap4/17_mapa_p_centro_12.png used on input l @@ -1655,7 +1672,7 @@ Underfull \hbox (badness 10000) in paragraph at lines 470--471 [] - + File: imagenes/cap4/18_comp_centro_12.png Graphic file (type png) Package pdftex.def Info: imagenes/cap4/18_comp_centro_12.png used on input lin @@ -1665,7 +1682,7 @@ LaTeX Info: Redefining \. on input line 481. LaTeX Info: Redefining \% on input line 481. [39 <./imagenes/cap4/17_mapa_p_centro_12.png> <./imagenes/cap4/18_comp_centro_1 2.png>] - + File: imagenes/cap4/19_mapa_p_esq_12.png Graphic file (type png) Package pdftex.def Info: imagenes/cap4/19_mapa_p_esq_12.png used on input line @@ -1676,7 +1693,7 @@ Underfull \hbox (badness 10000) in paragraph at lines 490--491 [] - + File: imagenes/cap4/20_comp_esq_12.png Graphic file (type png) Package pdftex.def Info: imagenes/cap4/20_comp_esq_12.png used on input line 4 @@ -1690,7 +1707,7 @@ Underfull \hbox (badness 10000) in paragraph at lines 500--501 [] - + File: imagenes/cap4/21_mapa_p_centro_30.png Graphic file (type png) Package pdftex.def Info: imagenes/cap4/21_mapa_p_centro_30.png used on input l @@ -1701,7 +1718,7 @@ Underfull \hbox (badness 10000) in paragraph at lines 512--513 [] - + File: imagenes/cap4/22_comp_centro_30.png Graphic file (type png) Package pdftex.def Info: imagenes/cap4/22_comp_centro_30.png used on input lin @@ -1716,7 +1733,7 @@ LaTeX Info: Redefining \. on input line 523. LaTeX Info: Redefining \% on input line 523. [41 <./imagenes/cap4/21_mapa_p_centro_30.png> <./imagenes/cap4/22_comp_centro_3 0.png>] - + File: imagenes/cap4/23_mapa_p_esq_30.png Graphic file (type png) Package pdftex.def Info: imagenes/cap4/23_mapa_p_esq_30.png used on input line @@ -1727,7 +1744,7 @@ Underfull \hbox (badness 10000) in paragraph at lines 532--533 [] - + File: imagenes/cap4/24_comp_esq_30.png Graphic file (type png) Package pdftex.def Info: imagenes/cap4/24_comp_esq_30.png used on input line 5 @@ -1747,7 +1764,7 @@ Underfull \hbox (badness 10000) in paragraph at lines 542--543 [] - + File: imagenes/cap4/25_mapa_p_diff.png Graphic file (type png) Package pdftex.def Info: imagenes/cap4/25_mapa_p_diff.png used on input line 5 @@ -1758,7 +1775,7 @@ Underfull \hbox (badness 10000) in paragraph at lines 552--553 [] - + File: imagenes/cap4/26_comp_diff.png Graphic file (type png) Package pdftex.def Info: imagenes/cap4/26_comp_diff.png used on input line 556 @@ -1782,7 +1799,7 @@ Underfull \hbox (badness 10000) in paragraph at lines 567--568 [] - + File: imagenes/cap4/27_points_poly.png Graphic file (type png) Package pdftex.def Info: imagenes/cap4/27_points_poly.png used on input line 5 @@ -1801,7 +1818,7 @@ Underfull \hbox (badness 10000) in paragraph at lines 579--580 LaTeX Info: Redefining \. on input line 580. LaTeX Info: Redefining \% on input line 580. [44 <./imagenes/cap4/27_points_poly.png>] - + File: imagenes/cap4/28_pseudosensor.png Graphic file (type png) Package pdftex.def Info: imagenes/cap4/28_pseudosensor.png used on input line @@ -2083,66 +2100,78 @@ Underfull \hbox (badness 10000) in paragraph at lines 44--49 [] -Underfull \hbox (badness 10000) in paragraph at lines 51--56 -\T1/cmtt/m/n/12 dehavillandmuseum . co . uk / aircraft / de-[]havilland-[]dh82b --[]queen-[]bee/$[][]\T1/cmr/m/n/12 , +Underfull \hbox (badness 10000) in paragraph at lines 57--62 +[][]$\T1/cmtt/m/n/12 https : / / www . nationalmuseum . af . mil / Visit / Muse +um-[]Exhibits / + [] + + +Underfull \hbox (badness 10000) in paragraph at lines 57--62 +\T1/cmtt/m/n/12 Fact-[]Sheets / Display / Article / 198095 / kettering-[]aerial +-[]torpedo-[]bug/$[][]\T1/cmr/m/n/12 , [] [50 ] -Underfull \hbox (badness 1540) in paragraph at lines 64--69 +Underfull \hbox (badness 10000) in paragraph at lines 64--69 +\T1/cmtt/m/n/12 dehavillandmuseum . co . uk / aircraft / de-[]havilland-[]dh82b +-[]queen-[]bee/$[][]\T1/cmr/m/n/12 , + [] + + +Underfull \hbox (badness 1540) in paragraph at lines 77--82 []\T1/cmr/m/n/12 srmconsulting. \T1/cmr/m/it/12 UAV, UAS, RPA, dron... como l lamarlos? [][]$\T1/cmtt/m/n/12 https : / / [] - -Underfull \hbox (badness 2469) in paragraph at lines 135--141 +LaTeX Info: Redefining \. on input line 146. +LaTeX Info: Redefining \% on input line 146. +[51] +Underfull \hbox (badness 2469) in paragraph at lines 148--154 []\T1/cmr/m/n/12 OpenStax and Lu-men Lear-ning. \T1/cmr/m/it/12 Rein-for-ce-me nt Lear-ning Ex-plai-ned Vi- [] -Overfull \hbox (116.64043pt too wide) in paragraph at lines 135--141 +Overfull \hbox (116.64043pt too wide) in paragraph at lines 148--154 \T1/cmtt/m/n/12 reinforcement-[]learning-[]explained-[]visually-[]part-[]4-[]q- []learning-[]step-[]by-[]step-[]b65efb731d3e$[][]\T1/cmr/m/n/12 , [] -Underfull \hbox (badness 3907) in paragraph at lines 143--148 +Underfull \hbox (badness 3907) in paragraph at lines 156--161 []\T1/cmr/m/n/12 Mathuranathan. \T1/cmr/m/it/12 Friis Free Space Propagation M odel\T1/cmr/m/n/12 . [][]$\T1/cmtt/m/n/12 https : / / www . [] -LaTeX Info: Redefining \. on input line 149. -LaTeX Info: Redefining \% on input line 149. -[51] -Underfull \hbox (badness 1038) in paragraph at lines 177--180 + +Underfull \hbox (badness 1038) in paragraph at lines 190--193 []\T1/cmr/m/n/12 SohomPramanick. \T1/cmr/m/it/12 History of Python\T1/cmr/m/n/ 12 . [][]$\T1/cmtt/m/n/12 https : / / www . geeksforgeeks . org / [] -Underfull \hbox (badness 2245) in paragraph at lines 193--196 +Underfull \hbox (badness 2245) in paragraph at lines 206--209 []\T1/cmr/m/n/12 SohomPramanick. \T1/cmr/m/it/12 History of C++\T1/cmr/m/n/12 . [][]$\T1/cmtt/m/n/12 https : / / www . geeksforgeeks . org / [] - -Underfull \hbox (badness 10000) in paragraph at lines 223--228 -[]\T1/cmr/m/n/12 HTG Stuff. \T1/cmr/m/it/12 What - [] - LaTeX Info: Redefining \. on input line 229. LaTeX Info: Redefining \% on input line 229. [52] -Underfull \hbox (badness 1960) in paragraph at lines 235--239 +Underfull \hbox (badness 10000) in paragraph at lines 236--241 +[]\T1/cmr/m/n/12 HTG Stuff. \T1/cmr/m/it/12 What + [] + + +Underfull \hbox (badness 1960) in paragraph at lines 248--252 []\T1/cmr/m/n/12 KattamuriMeghna. \T1/cmr/m/it/12 Python | Introduction to Mat plotlib\T1/cmr/m/n/12 . [][]$\T1/cmtt/m/n/12 https : / / www . [] -Underfull \hbox (badness 10000) in paragraph at lines 279--285 +Underfull \hbox (badness 10000) in paragraph at lines 292--298 []\T1/cmr/m/n/12 geeksforgeeks. \T1/cmr/m/it/12 How to check if [] @@ -2174,10 +2203,10 @@ LaTeX Warning: There were multiply-defined labels. Package atveryend Info: Empty hook `AtVeryVeryEnd' on input line 60. ) Here is how much of TeX's memory you used: - 14192 strings out of 483048 - 209853 string characters out of 5962772 + 14208 strings out of 483048 + 210279 string characters out of 5962772 663405 words of memory out of 5000000 - 28464 multiletter control sequences out of 15000+600000 + 28476 multiletter control sequences out of 15000+600000 567891 words of font info for 81 fonts, out of 8000000 for 9000 91 hyphenation exceptions out of 8191 44i,12n,53p,1069b,1467s stack positions out of 5000i,500n,10000p,200000b,80000s @@ -2210,10 +2239,10 @@ ive/texmf-dist/fonts/type1/public/amsfonts/cm/cmsy6.pfb> -Output written on memoria.pdf (63 pages, 4643005 bytes). +Output written on memoria.pdf (63 pages, 4738419 bytes). PDF statistics: - 2015 PDF objects out of 2073 (max. 8388607) - 1184 compressed objects within 12 object streams - 375 named destinations out of 1000 (max. 500000) - 604 words of extra memory for PDF output out of 10000 (max. 10000000) + 2023 PDF objects out of 2073 (max. 8388607) + 1190 compressed objects within 12 object streams + 378 named destinations out of 1000 (max. 500000) + 609 words of extra memory for PDF output out of 10000 (max. 10000000) diff --git a/memoria/memoria.pdf b/memoria/memoria.pdf index 6c23e95..2c7fb13 100644 Binary files a/memoria/memoria.pdf and b/memoria/memoria.pdf differ diff --git a/memoria/portada/resumen.tex b/memoria/portada/resumen.tex index 67a9263..36e19ce 100644 --- a/memoria/portada/resumen.tex +++ b/memoria/portada/resumen.tex @@ -8,4 +8,4 @@ \chapter*{Resumen\markboth{Resumen}{Resumen}} De este modo, surge la idea de realizar este \ac{TFG}, juntando lo mejor de ambos mundos, soluciones autónomas con dispositivos aéreos tremendamente adaptables a las circunstancias del problema.\\ -Concretamente, el objetivo de este proyecto ha sido robotizar un dron, con el fin de rastrear y navegar una señal de \ac{RF}, mediante el uso de distintos algoritmos, dentro de la infraestructura proporcionada por \ac{ROS}, con el fin de realizar una comparativa y determinar cual desempeña mejor su papel. \ No newline at end of file +Concretamente, el objetivo de este proyecto ha sido demostrar que, empleando aprendizaje por refuerzo (Q-Learning), se puede lograr rastrear y navegar hacia una señal \ac{RF} de forma más efectiva que con el resto de aproximaciones planteadas. \ No newline at end of file diff --git a/src/teleop/scripts/algorithms.py b/src/teleop/scripts/algorithms.py index 5b0099f..6c81201 100644 --- a/src/teleop/scripts/algorithms.py +++ b/src/teleop/scripts/algorithms.py @@ -1354,6 +1354,37 @@ def get_distance_to_goal(self): return d + def get_obs_resultant(self): + current_pose = rospy.wait_for_message(LOCAL_POSE_TOPIC, PoseStamped) + + x = current_pose.pose.position.x + y = current_pose.pose.position.y + + x_res = 0.0 + y_res = 0.0 + + counter = 0 + + for obs_coord in OBSTACLE_COORDS: + x_obs, y_obs = self.heatmapcoords_to_gzcoords(obs_coord) + x_res += x - x_obs + y_res += y - y_obs + counter += 1 + + return (x_res/counter, y_res/counter) + + def get_goal_vec(self): + current_pose = rospy.wait_for_message(LOCAL_POSE_TOPIC, PoseStamped) + + x = current_pose.pose.position.x + y = current_pose.pose.position.y + + x_goal, y_goal = self.heatmapcoords_to_gzcoords(SIGNAL_ORIGIN) + + return (x_goal - x, y_goal - y) + + + def VFF(self): goal_pose = PoseStamped() goal_pose.pose.position.z = H_POSES @@ -1367,9 +1398,10 @@ def VFF(self): while True: self.vel_pub.publish(vel) - print(self.get_distance_to_obstacle()) - print(self.get_distance_to_goal()) - print(self.get_distance_to_obstacle(minimun=True)) + print((self.get_goal_vec(), self.get_obs_resultant())) + # print(self.get_distance_to_obstacle()) + # print(self.get_distance_to_goal()) + # print(self.get_distance_to_obstacle(minimun=True))