Planiranje povratne putanje autonomne platforme temeljem poznate mape okoline

master's thesis

• Title (english): Return path planner for an autonomous platform using a known occupancy map
• Author: Ivana Zrinušić
• Mentor: Nikola Mišković (mentor)
• Committee member: Nikola Mišković (predsjednik povjerenstva)
• Committee member: Zoran Vukić (član povjerenstva)
• Committee member: Marija Seder (član povjerenstva)
• Granter: University of Zagreb; Faculty of Electrical Engineering and Computing; Zagreb
• Defense date and country: 2014-07-15, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Computing
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Electrical Engineering

Abstract

Autonomna platforma tijekom misije prolazi područjem koje nije unaprijed poznato i pri tome bilježi GPS koordinate točaka kojima je prošla. Na temelju tih podataka izrađuje se jednostavna mapa okupiranosti prostora u kojoj su slobodna samo ona područja kojima je platforma prolazila, dok se sva ostala smatraju zauzetima. Korištenjem D* Lite algoritma proračunava najkraći put između startne i ciljne pozicije, ali tako da platforma ostane unutar prethodno prijeđenog područja. Rezultati se... More prikazuju u 3D simulatoru Octovis unutar sustava ROS. Less

Abstract (english)

During mission autonomous platform is passing through unknown area and recordes GPS coordinates of the passed points. Simple occupancy map is made based on collected data. Areas where platform passed are marked as free, while the rest of them is considered occupied. Programme calculates shortest path between start and goal position using D* Lite search algorithm. Results are displayed in 3D simulator within ROS system using octovis package.

• Keywords: D* Lite; 3D mapiranje; najkraći put; pretraga grafa; planiranje puta
• Keywords (english): D* Lite; 3D mapping; shortest path; graph search; path planning
• Language: croatian
• URN:NBN: urn:nbn:hr:168:948587
• 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 14:33:51