Sistema de reconocimiento y exploración de terrenos basado en robótica móvil utilizando S.L.A.M. en entornos controlados

Abstract

This thesis presents the development of a terrain recognition and exploration system using mobile robotics with the Simultaneous Localization and Mapping (SLAM) technique in controlled environments. The system is implemented on an embedded Raspberry Pi platform that integrates various components, such as a 2D Lidar sensor, DC motors for traction, and an external camera for real-time image capture, optimizing the robot's mobility and efficiency. Advanced tools like Docker and GitHub are also employed to configure a customized platform that enables both autonomous navigation and teleoperation. The methodology used for the project development was divided into three stages: analysis, implementation, and testing. During the analysis stage, the technical requirements of the system were defined, appropriate components were selected, and different SLAM algorithms were evaluated to maximize accuracy in navigation and mapping. During implementation, the mechanical, electronic, and software subsystems of the robot were designed, integrating the selected components and developing the necessary code for system operation. Finally, in the testing stage, experiments were conducted in various controlled environments to assess the robot's performance, adjusting and optimizing parameters based on the results obtained. To ensure the protection and functionality of the system, a chassis was designed using CAD/CAE software. Subsequently, multiple tests were performed in different types of terrain, demonstrating that the robot is capable of navigating effectively and accurately, adapting to various conditions and obstacles. The results validate the effectiveness of the system in autonomous navigation and precise map creation, establishing a solid foundation for future applications in more complex environments. The proposed approach not only advances mobile robotics but also opens new opportunities for terrain exploration and mapping in various fields of application.