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data-sort-order="default"><a class="ds-related-work--title js-wsj-grid-card-title ds2-5-body-md ds2-5-body-link" href="https://www.academia.edu/40540059/Septiembre_de_2008">Septiembre de 2008</a><div class="ds-related-work--metadata"><a class="js-wsj-grid-card-author ds2-5-body-sm ds2-5-body-link" data-author-id="129732451" href="https://proyectosdeinversion-nassirsapagchain-2edicion.academia.edu/JudithAchircanaYhui">Judith Achircana Yhui</a></div><p class="ds-related-work--abstract ds2-5-body-sm">RESUMEN En este artículo se presenta una metodología de navegación de robots móviles en ambientes estructurados, utilizando Redes Neuronales Artificiales del tipo propagación hacia atras. Para la generación de la trayectoria optima se realiza la clasificación de superficies típicas de ambientes de robótica móvil, utilizando la base de datos obtenida de un anillo de sensores ultrasónicos. Se diseña las interfaces graficas, tanto para generar las bases de datos de las superficies, como para generar la trayectoria optima que le permita al robot desplazarse de un punto inicial a un punto final llamado objetivo. ABSTRACT In this paper a methodology for navigation of a mobile robot in structured environments is presented. This methodology uses backpropagation neural network-to generate the optimal trajectory based of previously classification of typical surfaces of robotics environments. For the classification to use a database obtained from a ring of ultrasonic sensors. 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