Implementacija i evaluacija algoritma čistog slijeđenja i Stanley algoritma kao zasebnih ROS paketa

undergraduate thesis

• Title (english): Implementation and evaluation of pure pursuit and Stanley algorithms on ROS platform
• Author: Dajana Ivkić
• Mentor: Stjepan Bogdan (mentor)
• Committee member: Stjepan Bogdan (predsjednik povjerenstva)
• Committee member: Damjan Miklić (član povjerenstva)
• Committee member: Tamara Petrović (član povjerenstva)
• Granter: University of Zagreb; Faculty of Electrical Engineering and Computing; Zagreb
• Defense date and country: 2016-07-11, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Electrical Engineering

Abstract

Implementacija algoritma čistog slijeđenja (pure pursuit) i Stanley algoritam kao zasebnih pakete u okviru ROS okruženja. Algoritmi su implementirani na način da ih je moguće koristiti u okviru standardnog ROS navigacijskog paketa. Ispravnost i učinkovitost algoritama treba potvrđena simulacijski i eksperimentalno na Pioneer P3-DX platformi. Napravljena detaljna analiza i evaluacija rezultata oba algoritma praćenja putanje.

Abstract (english)

Implementation and evaluation of the Pure pursuit and Stanley path tracking algorithms as different ROS packages. Algorithms are implemented so that is possible to use them as a part of the standard ROS navigation stack. Accuracy and efficiency are proved through simulation and experiment on the MR Pioneer P3-DX. Detailed analysis and evaluation has been made for both path tracking algorithms.

• Keywords: čisto slijeđenje; praćenje putanje; diferencijalni pogon; mobilni robot; stanley
• Keywords (english): pure pursuit; stanley; path tracking; differential drive; mobile robot
• Language: croatian
• URN:NBN: urn:nbn:hr:168:729329
• Study programme: Title: Electrical Engineering and Information Technology; Study programme type: university; Study level: undergraduate; Academic / professional title: sveučilišni/a prvostupnik/ prvostupnica (baccalaureus/baccalaurea) inženjer/inženjerka elektrotehnike i informacijske tehnologije (sveučilišni/a prvostupnik/ prvostupnica (baccalaureus/baccalaurea) inženjer/inženjerka elektrotehnike i informacijske tehnologije)
• Type of resource: Text
• File origin: Born digital
• Access conditions: Closed access
• Created on: 2019-03-19 14:16:47