Desarrollo de un Sistema de movimiento autónomo para el dispositivo de esterilización de espacios por Radiación UVC.

Abstract

This project seeks to grant RMA (Autonomous Mobile Robot) characteristics to a UV-C sterilization system, developing the mechanical locomotion prototype and an autonomous mobility system in order to provide a certain degree of autonomy within a static environment. closed unstructured. In order to achieve this objective, SLAM is implemented, which is a technique used to provide autonomy to vehicles through the construction of a map of an unknown environment while moving through it. To do this, it will first begin with the study of the state of the art of SLAM techniques at the level of location and simultaneous modeling, followed by the design requirements and selection of the actuators to be controlled, control devices, among others, Carrying out from this the design of the mechanical and electronic system of autonomous mobility for the UV-C sterilization system and its subsequent construction, to this the design of the SLAM system will be added, followed by said location system and simultaneous mapping and finally the validation of the operating system at the level of autonomous mobility will be carried out.