A genetic algorithm (GA) is an artificial intelligence technique that can be applied to any engineering specialty. In this study, the proposed GA finds optimal values for PID controller parameters Kp, Ki and Kd, which are widely used in the industry. Chromosomes, composed of Kp, Ki and Kd genes, represented by real numbers, evolve and are evaluated by the mean square error (MSE) of the desired output. In that sense, the solution is the chromosome with the lowest MSE, which produces less transient output. In addition, the GA has been encoded in MATLAB language and results have been compared with other works.

A genetic algorithm (GA) is an artificial intelligence technique that can be applied to any engineering specialty. In this study, the proposed GA finds optimal values for PID controller parameters Kp, Ki and Kd, which are widely used in the industry. Chromosomes, composed of Kp, Ki and Kd genes, represented by real numbers, evolve and are evaluated by the mean square error (MSE) of the desired output. In that sense, the solution is the chromosome with the lowest MSE, which produces less transient output. In addition, the GA has been encoded in MATLAB language and results have been compared with other works.

El trabajo presentado a continuación se enfoca en almacenar posiciones previas y posteriores de las lecturas (sensores) optando por Simultaneous Localization and Mapping (SLAM), para almacenar todos los estados percibidos del ambiente. Se incluyó sensores de profundidad para percibir el ambiente y en cuanto a la orientación, se trabajó con los encoders de las ruedas. Los encoders permiten aplicar odometría, una técnica que retorna tres valores importantes. La posición en 2D (x,y) y el ángulo de orientación del robot. A medida que inicia el envío de las lecturas de los sensores, se grafica el resultado, en tiempo real. Pero a medida que la información de los sensores, se incrementa se aplican diferentes estructuras de almacenamiento, que mejoran el desempeño. Las técnicas más utilizadas en mapeamiento y que se pusieron en contraste en este trabajo, son los mapas topológicos...