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master's thesis
Planiranje povratne putanje autonomne platforme temeljem poznate mape okoline
2014. urn:nbn:hr:168:948587
Zrinušić, Ivana
University of Zagreb
Faculty of Electrical Engineering and Computing

Cite this document

Zrinušić, I. (2014). Planiranje povratne putanje autonomne platforme temeljem poznate mape okoline (Master's thesis). Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing. Retrieved from https://urn.nsk.hr/urn:nbn:hr:168:948587

Zrinušić, Ivana. "Planiranje povratne putanje autonomne platforme temeljem poznate mape okoline." Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, 2014. https://urn.nsk.hr/urn:nbn:hr:168:948587

Zrinušić, Ivana. "Planiranje povratne putanje autonomne platforme temeljem poznate mape okoline." Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, 2014. https://urn.nsk.hr/urn:nbn:hr:168:948587

Zrinušić, I. (2014). 'Planiranje povratne putanje autonomne platforme temeljem poznate mape okoline', Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, accessed 18 April 2024, https://urn.nsk.hr/urn:nbn:hr:168:948587

Zrinušić I. Planiranje povratne putanje autonomne platforme temeljem poznate mape okoline [Master's thesis]. Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing; 2014 [cited 2024 April 18] Available at: https://urn.nsk.hr/urn:nbn:hr:168:948587

I. Zrinušić, "Planiranje povratne putanje autonomne platforme temeljem poznate mape okoline", Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, Zagreb, 2014. Available at: https://urn.nsk.hr/urn:nbn:hr:168:948587

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Metadata
TitlePlaniranje povratne putanje autonomne platforme temeljem poznate mape okoline
Title (english)Return path planner for an autonomous platform using a known occupancy map
AuthorIvana Zrinušić
MentorNikola Mišković (mentor)
Committee memberNikola Mišković (predsjednik povjerenstva)
Committee memberZoran Vukić (član povjerenstva)
Committee memberMarija Seder (član povjerenstva)
GranterUniversity of Zagreb
Faculty of Electrical Engineering and Computing
Zagreb
Defense date and country2014-07-15, 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 prikazuju u 3D simulatoru Octovis unutar sustava ROS.
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
Keywords (english)
Languagecroatian
URN:NBNurn:nbn:hr:168:948587
Study programmeTitle: 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 resourceText
File originBorn digital
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Created on2018-02-06 14:33:51