Upravljanje sustavom s više svesmjernih mobilnih robota zasnovano na privatnim zonama

undergraduate thesis

• Title (english): Private zone-based control of multiple omni-directional mobile robots
• Author: Luka Košćak
• Mentor: Zdenko Kovačić (mentor)
• Committee member: Zdenko Kovačić (predsjednik povjerenstva)
• Committee member: Goran Vasiljević (član povjerenstva)
• Committee member: Juraj Oršulić (član povjerenstva)
• Granter: University of Zagreb; Faculty of Electrical Engineering and Computing; Zagreb
• Defense date and country: 2017-07-10, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Electrical Engineering

Abstract

Za svesmjerne mobilne robote uspoređena su dva algoritma planiranja puta - A* i RRT. Usporedba je izvršena u ROS simulacijskom okruženju uz korištenje RVIZ alata za vizualizaciju. Za isplanirani put primijenjen je algoritam čistog slijeđenja kako bi u simulaciji robot pratio put. Nakon što su osnovni koncepti upravljanja izrađeni, dan je prijedlog prilagodbe koncepta privatnih zona svesmjernim mobilnim robotima.

Abstract (english)

For omni-directional mobile robots, two path planning algorithms - A* and RRT are compared. The comparison is made in ROS simulation environment using RVIZ tool for visualization. For the planed path a pure pursuit algorithm is us to ensure that the simulated robot would follow the given path. After the basic control concept were satisfied, a suggestion for adaptation of private zones concept to omni-directional mobile robot was proposed.

• Keywords: privatne zone; svesmjerni mobilni robot; planiranje puta; sljeđenje puta; simulacija
• Keywords (english): private zones; omni-directional mobile robot; path planning; path following; simulation
• Language: croatian
• URN:NBN: urn:nbn:hr:168:715166
• 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: 2019-03-13 21:46:09