Planiranje gibanja mobilnih robota primjenom konfiguracijske rešetke

master's thesis

• Title (english): Lattice based motion planning of mobile robots
• Author: Ilija Martinović
• Mentor: Ivan Petrović (mentor)
• Committee member: Ivan Petrović (predsjednik povjerenstva)
• Committee member: Jadranko Matuško (član povjerenstva)
• Committee member: Marija Seder (član povjerenstva)
• Granter: University of Zagreb; Faculty of Electrical Engineering and Computing; Zagreb
• Defense date and country: 2014-07-09, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Electrical Engineering

Abstract

U ovom radu je istraživan algoritam planiranja gibanja pogodan za mobilne robote s holonomskim ograničenjima i mobilne robote koji nisu kružnog oblika. Objašnjen je detaljno glavni dio algoritma tj. motion primitives. Taj algoritam, tj. Lattice Planner je implementiran te je objašnjen svaki korak implementacije. Objašnjeno također je kako mijenjati parametre. Na kraju su se vršila testiranja odnosno simulacije kako bi se testirao algoritam, te se usporedio s već postojećim i provjerenim algoritmom da bi se usporedili rezultati. Testiranja su se vršila u ROS fuerteu.

Abstract (english)

The paper focuses on research of Lattice Planner algorithm suitable for mobile robots with holonomic restrictions and mobile robots that do not have circular shape. It was minutely explained the main part of the algorithm, the motion primitives. Lattice Planner was implemented and each step of the implementation was explained. Also, it was explained how to change the parameter of the planner. In the end the algorithmus was tested, simulated, and compared with existing and proven algorithmus to compare the results. Tests were carried out in ROS fuerte.

• Keywords: Lattice Planner; motion primitives; mobilni robot; planiranje gibanja; algoritam pretraživanja grafa
• Keywords (english): Lattice Planner; motion primitices; mobile robot; path planning; graph-search algorithmus
• Language: croatian
• URN:NBN: urn:nbn:hr:168:738722
• Study programme: Title: Electrical Engineering and Information Technology; Study programme type: university; Study level: graduate; Academic / professional title: magistar/magistra inženjer/inženjerka elektrotehnike i informacijske tehnologije (magistar/magistra inženjer/inženjerka elektrotehnike i informacijske tehnologije)
• Type of resource: Text
• File origin: Born digital
• Access conditions: Closed access
• Created on: 2018-02-06 10:30:06