Decentralizirano raspoređivanje zadataka za više vozila

undergraduate thesis

• Title (english): Decentralized task dispatching for multiple vehicles
• Author: Ivan Hrabar
• Mentor: Zdenko Kovačić (mentor)
• Committee member: Zdenko Kovačić (predsjednik povjerenstva)
• Committee member: Tamara Petrović (član povjerenstva)
• Committee member: Goran Vasiljević (član povjerenstva)
• Granter: University of Zagreb; Faculty of Electrical Engineering and Computing; Zagreb
• Defense date and country: 2015-07-13, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Electrical Engineering

Abstract

Tijekom ovog završnog rada simulacijski je ispitano decentralizirano raspoređivanje zadataka za više vozila. Teoretski je proučeno određivanje cijene pojedine misije te je definiran izračun cijene. Određivanje cijene misije implementirano je u multi-AGV programski paket. Izvedeno je proširenje postojećeg multi-AGV programskog paketa omogućujući simuliranje rada decentraliziranog raspoređivanja zadataka za više vozila. Proučen je Munkresov algoritam te je implementiran za optimalno raspoređivanje misija po robotima. U simuliranom okruženju ispitana su tri karakteristična scenarija u decentraliziranom sustavu: scenarij neograničene komunikacije i vidljivosti misija, scenarij ograničene vidljivosti misija i neograničene komunikacije te scenarij s ograničenom komunikacijom i ograničenom vidljivosti misija. Detektirane su kritične okolnosti u kojima decentralizirano raspoređivanje pokazuje nedostatke.

Abstract (english)

Decentralized task dispatching for multiple vehicles was theoretically studied and
examined by simulation, during this bachelor theses. Determination of task price was
theoretically studied. Task price calculation was defined: 2.1. Multi-AGV program
package was extended by implementing decentralized task dispatching for multiple vehicles.
Munkres algorithm was examined and implemented for optimal task dispatching.
Characteristic scenarios in decentralized task dispatching system were examined
in simulator. Characteristic scenarios were examined in three circumstances: ideal
communication and ideal mission visibility, ideal communication and limited mission
visibility and limited communication range and limited mission visibility. Critical scenarios
were detected and sufficient solutions proposed.

• Keywords: distribuirani sustav; Munkres; iscrpno pretraživanje; problem pridruživanja
• Keywords (english): distributed system; Munkres; exhausted search; mapping problem
• Language: croatian
• URN:NBN: urn:nbn:hr:168:934553
• 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: 2018-02-06 09:11:07