Virtualización de entornos reales para la navegación autónoma y tele-operada de robots manipuladores aéreos .

Abstract

This paper presents the implementation of a 3D virtual simulator that allows the analysis of the performance of different autonomous and teleoperated control strategies through the execution of service tasks by an aerial manipulator robot. The simulation environment is development through the digitalization of a real environment by means of 3D mapping with Drones that serves as a scenario to execute the tasks with a robot designed in CAD software. For robot-environment interaction, the Unity 3D graphics engine is used, which exchanges information with MATLAB to close the control loop and allow for feedback to compensate for the error. Finally, the results of the simulation, which validate the proposed control strategies, are presented and discussed.