Aplicación para generación de rejillas de ocupación para robot subterráneo
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En este artículo se presenta una aplicación para la generación de rejillas de ocupación 3D a partir de Sistemas de Información Geográfica (SIG) y su integración con el framework de código abierto Robot Operating System (ROS), específicamente diseñada para el robot subterráneo ROBOSUB para perforaciones horizontales. Además, se extiende la interfaz de usuario desarrollada en un trabajo anterior para incluir una nueva sección que permite al usuario seleccionar de manera interactiva un área de trabajo específica en un mapa y definir la resolución de la rejilla de ocupación 3D. La rejilla de ocupación es generada utilizando información almacenada en una base de datos y se desarrolla un algoritmo para completar las secciones faltantes de las instalaciones subterráneas. La rejilla de ocupación generada no solo facilita la visualización detallada del entorno subterráneo, sino que también es utilizada para la planificación de trayectorias.
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