Navigacija mobilnog robota za potpuno prekrivanje prostora

master's thesis

• Title (english): Mobile Robot navigation for Complete Coverage of Anenvironment
• Author: Ana Šelek
• Mentor: Marija Seder (mentor)
• Committee member: Marija Seder (predsjednik povjerenstva)
• Committee member: Ivan Petrović (član povjerenstva)
• Committee member: Ivan Marković (član povjerenstva)
• Granter: University of Zagreb; Faculty of Electrical Engineering and Computing; Zagreb
• Defense date and country: 2017-07-17, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Electrical Engineering

Abstract

Potpuno prekrivanje prostora potrebno je u primjenama razminiranja, čišćenja ili košenja, gdje je cilj da robot svojim alatom prijeđe preko svog zadanog područja. Problem potpunog prekrivanja poznatog prostora svodi se na podjelu prostora na pravokutna polja te nakon toga određivanje putanje koja će proći kroz svako polje točno jednom. Potrebno je implementirati algoritam potpunog prekrivanja prostora mobilnog robota koji će osim optimalnosti imati zahtjev za rad u stvarnom vremenu u slučaju preinaka u prostoru dok robot prati početno isplaniranu putanju. Dodatno je potrebno reducirati broj promjena zaokreta isplanirane putanje kod replaniranja tako da robot zadržava prethodni smjer kretanja, osiguravajući sigurno i glatko gibanje. Algoritam je potrebno implementirati unutar robotskog operacijskog sustava (ROS) te ga provjeriti simulacijski i na stvarnom robotu.

Abstract (english)

Full coverage of space is required in demining, cleansing, or mowing applications, where the aim is to move the robot through its predetermined range. The problem of complete coverage of known space is reduced to dividing space into rectangular fields and then determining the path that will pass through each field exactly once. It is necessary to implement an algorithm for complete space coverage with a mobile robot. Furthermore, beside the requirement for optimal space coverage the algorithm needs to run in real time in case of dynamic obstacles. Additionally it is necessary to reduce the number of turns of the replanned path after dynamic changes. The algorithm needs to be implemented within the robotic operating system (ROS) and checked by the simulation and the real robot.

• Keywords: Mobilni robot; algoritam prekrivanja; navigacija
• Keywords (english): Mobile robot; coverage algorithm; navigation
• Language: croatian
• URN:NBN: urn:nbn:hr:168:926786
• 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: 2019-03-14 01:12:02