?url_ver=Z39.88-2004&rft_val_fmt=info%3Aofi%2Ffmt%3Akev%3Amtx%3Adc&rft.title=MapMaker+Robot&rft.creator=Motofelea%2C+Ionut+Daniel&rft.contributor=Garc%C3%ADa+Alc%C3%A1ntara%2C+Vicente+A.&rft.subject=Computer+Science&rft.description=Con+el+paso+de+los+a%C3%B1os+la+Rob%C3%B3tica+ha+ido+cogiendo+fuerza+en+campos+como+la+medicina%2C+industria+y+en+el+hogar+entre+muchos+otros.+Por+ello%2C+para+hacer+m%C3%A1s+evidente+dicha+proyecci%C3%B3n+de+progreso%2C+se+ha+realizado+la+construcci%C3%B3n+de+un+robot+que+es+capaz+de+realizar+un+mapa+del+entorno+evitando+as%C3%AD+que+sea+el+usuario+quien+tenga+que+recorrer+dicho+espacio.+En+el+presente+documento%2C+a+lo+largo+de+los+siguientes+apartados+se+explicar%C3%A1+el+Proyecto+de+Fin+de+Grado+que+se+ha+realizado.+El+proyecto+recibe+el+nombre+de+MapMaker+Robot%2C+que+se+considera+un+nombre+que+facilita+la+comprensi%C3%B3n+de+la+funcionalidad+principal+del+robot%2C+la+construcci%C3%B3n+de+un+robot+que+es+capaz+de+realizar+la+creaci%C3%B3n+de+mapas+del+entorno+de+alrededor.+Para+llevar+a+cabo+la+construcci%C3%B3n+del+robot+se+ha+realizado+una+implementaci%C3%B3n+tanto+a+nivel+hardware+como+a+nivel+software+por+lo+que+se+considera+un+proyecto+que+abarca+todos+los+aspectos+posibles.+Para+dicha+construcci%C3%B3n+se+han+unido+en+la+misma+placa+de+desarrollo+de+Arduino+los+diferentes+componentes+de+control+del+robot%2C+valorando+los+diferentes+voltajes+que+se+deben+suministrar+a+los+perif%C3%A9ricos.+La+informaci%C3%B3n+que+se+recoge+que+el+prototipo+recoge+es+la+distancia+a+los+obst%C3%A1culos+en+tres+direcciones+distintas%2C+la+posici%C3%B3n+actual+del+robot%2C+temperatura+y+humedad.+La+totalidad+del+prototipo+est%C3%A1+construido+por+19+dispositivos%2C+18+elementos+de+sujeci%C3%B3n+y+2+fuentes+de+alimentaci%C3%B3n+adem%C3%A1s+de+todo+el+cableado+necesario+llegando+a+un+total+de+39+elementos+distintos.+Adem%C3%A1s%2C+se+dispone+de+una+ventana+en+la+cual+el+usuario+puede+interactuar+con+el+mapa+elaborado.+La+comunicaci%C3%B3n+entre+el+robot+y+el+servidor+que+se+encarga+de+recoger+los+datos+se+ha+realizado+mediante+el+protocolo+de+comunicaci%C3%B3n+MQTT+(Message+Queue+Telemetry+Transport)+haciendo+uso+de+los+lenguajes+de+C+y+Python%2C+adem%C3%A1s+de+ser+necesario+la+modificaci%C3%B3n+de+las+librer%C3%ADas+utilizadas.+El+seguimiento+del+proyecto+se+ha+realizado+mediante+una+metodolog%C3%ADa+%C3%A1gil+compuesta+por+hitos+de+las+diferentes+tareas+a+desempe%C3%B1ar+para+la+construcci%C3%B3n+del+sistema.+Con+el+transcurso+de+la+construcci%C3%B3n+del+proyecto+ha+sido+necesario+modificar+dichos+hitos+definidos+al+principio%2C+definiendo+as%C3%AD+unos+nuevos+plazos+para+la+finalizaci%C3%B3n+del+proyecto.%0D%0AAbstract%3A%0D%0AOver+the+years+Robotics+has+been+gaining+strength+in+fields+such+as+medicine%2C+industry+and+the+home+among+many+others.+For+this+reason%2C+in+order+to+make+this+projection+of+progress+more+evident%2C+a+robot+has+been+built+that+is+capable+of+making+a+map+of+the+environment%2C+thus+avoiding+the+need+for+the+user+to+walk+through+this+space.+In+this+document%2C+the+aim+of+the+following+sections+is+to+explain+the+End-of-Degree+Project+that+has+been+carried+out.+The+project+is+called+MapMaker+Robot%2C+which+is+considered+a+name+that+facilitates+the+understanding+of+the+main+functionality+of+our+robot%2C+the+construction+of+a+robot+that+is+able+to+perform+the+creation+of+maps+of+the+surrounding+environment.+In+order+to+carry+out+the+construction+of+the+robot%2C+it+has+been+implemented+at+both+hardware+and+software+levels%2C+which+is+why+it+is+considered+a+project+that+covers+all+possible+aspects.+For+this+construction%2C+the+different+control+components+of+the+robot+have+been+joined+together+on+the+same+Arduino+development+board%2C+assessing+the+different+voltages+to+be+supplied+to+the+peripherals.+The++information+collected+by+the+prototype+is+the+distance+to+the+obstacles+in+three+different+directions%2C+the+current+position+of+the+robot%2C+temperature+and+humidity.+The+entire+prototype+is+built+with+19+devices%2C+18+clamping+elements+and+2+power+supplies%2C+plus+all+the+necessary+wiring%2C+for+a+total+of+39+different+elements.+In+addition%2C+there+is+a+window+in+which+the+user+can+interact+with+the+map.+The+communication+between+the+robot+and+the+server+in+charge+of+collecting+the+data+has+been+carried+out+using+the+MQTT+(Message+Queue+Telemetry+Transport)+communication+protocol+using+the+C+and+Python+languages%2C+in+addition+to+the+need+to+modify+the+libraries+used.+The+monitoring+of+the+project+has+been+carried+out+using+an+agile+methodology+composed+of+milestones+of+the+different+tasks+to+be+performed+for+the+construction+of+the+system.+During+the+course+of+the+construction+of+the+project+it+has+been+necessary+to+modify+these+milestones+defined+at+the+beginning%2C+thus+defining+new+deadlines+for+the+completion+of+the+project.&rft.publisher=E.T.S.I+de+Sistemas+Inform%C3%83%C2%A1ticos+(UPM)&rft.rights=https%3A%2F%2Fcreativecommons.org%2Flicenses%2Fby-nc-nd%2F3.0%2Fes%2F&rft.date=2018-07&rft.type=info%3Aeu-repo%2Fsemantics%2FbachelorThesis&rft.type=Final+Project&rft.type=PeerReviewed&rft.format=application%2Fpdf&rft.language=spa&rft.format=application%2Fzip&rft.language=spa&rft.rights=info%3Aeu-repo%2Fsemantics%2FrestrictedAccess&rft.identifier=https%3A%2F%2Foa.upm.es%2F52091%2F