Browsing by Autor "Edgar Salazar Florez"

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    Nonlinear System Identification for Temperature in a Biodiesel Reactor: A Simulation Case Study
    (2025) Marcelo Saavedra Alcoba; Edgar Salazar Florez; Daniela Pérez Suárez; Jonathan Villanueva Tavira; Efredy Delgado-Aguilera
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    Postprocessing Optimization of RRT* Using Machine Learning and Information Theory for Robotic Navigation
    (2025) Marcelo Saavedra Alcoba; Edgar Salazar Florez; Brayan G. Duran Toconas; Kevin Marlon Soza Mamani
    This work presents an alternative post-processing approach for optimizing mobile robot trajectories by combining vector quantization techniques with information theory. We developed an algorithm based on Vector Quantization (VQ) and Kullback-Leibler Divergence (VQKL) that maintains the original RRT*'s obstacle avoidance capabilities. When comparing VQKL and VQ with the Ramer-Douglas-Peucker (RDP) algorithm, our methods demonstrate significant superiority: VQ achieves a 13% reduction in path length (versus RDP's 10%) while VQKL achieves 14%, along with an 83% (VQ) and 84% (VQKL) reduction in node count compared to the original RRT* output. These results are obtained through an adaptive optimization process that iteratively adjusts centroids using a progressive annealing scheme. To ensure trajectory feasibility, we implemented a validation system that verifies both geometric deviation from the original path and collision-free operation with obstacles. Extensive simulations across 20 different environments with 100 trials each confirm that our method generates significantly shorter, more efficient, and safer trajectories, establishing a viable alternative for robotic path optimization.