Implementacija algoritama za slijeđenje putanje na mobilnom robotu Pioneer

master's thesis

• Title (english): Implementation of Path Following Algorithms on Mobile Robot Pioneer
• Author: Luka Karaman
• Mentor: Zdenko Kovačić (mentor)
• Committee member: Zdenko Kovačić (predsjednik povjerenstva)
• Committee member: Stjepan Bogdan (član povjerenstva)
• Committee member: Matko Orsag (član povjerenstva)
• Granter: University of Zagreb; Faculty of Electrical Engineering and Computing; Zagreb
• Defense date and country: 2018-07-17, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Electrical Engineering

Abstract

U ovom radu proučen je GVF (Guiding Vector-Field) algoritam za slijeđenje putanje pomoću usmjeravajućeg vektorskog polja primijenjen na neholonomnog mobilnog robota. Opisana je teorijska podloga za razumijevanje algoritma pratećeg vektorskog polja. Posebno se obratila pozornost na problem pretvaranja skupa točaka u funkciju dvije varijable implicitnog oblika kako bi se algoritam iskoristio u kombinaciji s modulom za planiranje putanje. Simulacijama u programskom paketu MATLAB pokazano je ponašanje algoritma vodećeg vektorskog polja na jednostavnoj mapi s preprekama i različitim načinima izvoda funkcije slijeđenja. U posljednjem dijelu se eksperimentalno provodi usporedba algoritma čistog slijeđenja i algoritma vodećeg vektorskog polja na mobilnom robotu i prostoru bez prepreka.

Abstract (english)

In this thesis GVF (Guiding Vector-Field) path following algorithm using guiding vector fields has been studied and applied to a nonholonomic mobile robot. Theoretical background for understanding the algorithm of the guiding vector field is described. The problem of transforming a set of points into the implicit form function of two variables is emphasized, as it is intended to apply this alghorithm with the path planning module. Using MATLAB simulations, behaviour of the Guiding Field Algorithm on a simple map with obstacles and different path-following functions is shown. In the final chapter an experimental comparision is made between the pure pursuit algorithm and guiding vector field algorithm on a mobile robot and space without obstacles.

• Keywords: mobilni robot; slijeđenje putanje; čisto slijeđenje; GVF
• Keywords (english): mobile robot; path following; pure pursuit; GVF
• Language: croatian
• URN:NBN: urn:nbn:hr:168:521836
• 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: 2019-03-13 21:26:14