Listar ISA - Artículos por autor "Morales-Rodríguez, Jesús"
Mostrando ítems 1-10 de 10
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A redundant configuration of four low-cost GNSS-RTK receivers for reliable estimation of vehicular position and posture
This paper proposes a low-cost sensor system composed of four GNSS-RTK receivers to obtain accurate position and posture estimations for a vehicle in real-time. The four antennas of the receivers are placed so that every ... -
Analysis of Tread ICRs for Wheeled Skid-Steer Vehicles on Inclined Terrain
Martínez-Rodríguez, Jorge Luis; Morales-Rodríguez, Jesús; García-Caicedo, Jesús Marcey; García-Cerezo, Alfonso José (IEEE, 2023)The instantaneous centers of rotation (ICRs) for the two treads of skid-steer vehicles moving with low inertia on hard horizontal terrain almost remain with constant local coordinates, which allows to establish an equivalence ... -
Automatically annotated dataset of a ground mobile robot in natural environments via Gazebo simulations
Sánchez-Montero, Manuel; Morales-Rodríguez, Jesús; Martínez-Rodríguez, Jorge Luis; Fernández-Lozano, Juan Jesús; García-Cerezo, Alfonso José (MDPI, 2022)This paper presents a new synthetic dataset obtained from Gazebo simulations of an Unmanned Ground Vehicle (UGV) moving on different natural environments. To this end, a Husky mobile robot equipped with a tridimensional ... -
Building Fuzzy Elevation Maps from a Ground-based 3D Laser Scan for Outdoor Mobile Robots
Mandow, Anthony; Cantador, Tomás J.; Reina-Terol, Antonio Jesús; Martínez, Jorge L.; Morales-Rodríguez, Jesús; García-Cerezo, Alfonso José[et al.] (2015-11-24)The paper addresses terrain modeling for mobile robots with fuzzy elevation maps by improving computational speed and performance over previous work on fuzzy terrain identification from a three-dimensional (3D) scan. To ... -
Motion Detection from Mobile Robots with Fuzzy Threshold Selection in Consecutive 2D Laser Scans.
Martínez-Sánchez, María Alcázar; Martínez-Rodríguez, Jorge Luis; Morales-Rodríguez, Jesús (2015-01-22)Motion detection and tracking is a relevant problem for mobile robots during navigation to avoid collisions in dynamic environments or in applications where service robots interact with humans. This paper presents a ... -
Pure-Pursuit reactive Path Tracking for Nonholonomic Mobile Robots with a 2D Laser Scanner
Morales-Rodríguez, Jesús; Martínez-Rodríguez, Jorge Luis; Martínez-Sánchez, María Alcázar; Mandow Andaluz, Anthony (Springer, 2009)Due to its simplicity and efficiency, the pure-pursuit path tracking method has been widely employed for planned navigation of nonholonomic ground vehicles. In this paper, we investigate the application of this technique ... -
Reinforcement and Curriculum Learning for Off-Road Navigation of an UGV with a 3D LiDAR
Sánchez-Montero, Manuel; Morales-Rodríguez, Jesús; Martínez-Rodríguez, Jorge Luis (MDPI, 2023-03-18)This paper presents the use of deep Reinforcement Learning (RL) for autonomous navigation of an Unmanned Ground Vehicle (UGV) with an onboard three-dimensional (3D) Light Detection and Ranging (LiDAR) sensor in off-road ... -
Supervised learning of natural-terrain traversability with synthetic 3D laser scans
Martínez-Rodríguez, Jorge Luis; Morán, Mariano; Morales-Rodríguez, Jesús; Robles, Alfredo; Sánchez, Manuel (MDPI, 2020)Autonomous navigation of ground vehicles on natural environments requires looking for traversable terrain continuously. This paper develops traversability classifiers for the three-dimensional (3D) point clouds acquired ... -
Vision-Based Autonomous Following of a Moving Platform and Landing for an Unmanned Aerial Vehicle
Morales-Rodríguez, Jesús; Castelo, Isabel; Serra, Rodrigo; Lima, Pedro U.; Basiri, Meysam (IOAP-MDPI, 2023-01-11)Interest in Unmanned Aerial Vehicles (UAVs) has increased due to their versatility and variety of applications, however their battery life limits their applications. Heterogeneous multi-robot systems can offer a solution ... -
Waypoint generation in satellite images based on a CNN for outdoor UGV navigation
Moving on paths or trails present in natural environments makes autonomous navigation of unmanned ground vehicles (UGV) simpler and safer. In this sense, aerial photographs provide a lot of information of wide areas that ...