Analiza učinkovitosti upravljanja višerobotskim sustavom zasnovanog na privatnim zonama

undergraduate thesis

• Title (english): Performance Analysis of Multi-robot System based on Private Zones
• Author: Branimir Sesar
• 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: 2017-07-10, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Electrical Engineering

Abstract

Za razvijeni decentralizirani algoritam upravljanja višerobotskim sustavom koji koristi koncept privatnih zona obavljen je niz eksperimenata u ROS simulacijskom okruženju uz korištenje RVIZ alata za vizualizaciju. Mijenjajući broj vozila i izgled prostora u kojem se roboti gibaju na sustavan način provodimo analizu učinkovitosti ovog upravljanja na način da mjerimo: ukupan broj obavljenih misija u zadanom vremenu , broj misija pojedinih vozila , prosječno trajanje misija , ujednačenost iskorištavanja vozila, broj sklanjanja s puta drugim vozilima i ostalih pokazatelja učinkovitosti upravljačkog algoritma.

Abstract (english)

For a developed decentralized multi-robot management algorithm which uses the concept of private zones, a series of experiments were performed in the ROS simulation environment using the RVIZ visualization tool. Changing the number of vehicles and the layout of the space in which robots are being deployed in a systematic way, we conduct an analysis of the effectiveness of this management in such a way as to measure: total number of missions performed within a given time, number of individual vehicle missions, average duration of missions, uniformity of utilization of the vehicle and other performance algorithm performance indicators.

• Keywords: vozila; privatne zone; učinkovitost
• Keywords (english): performance; private zones
• Language: croatian
• URN:NBN: urn:nbn:hr:168:955405
• 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: 2019-03-14 00:39:37