Algoritam optimiranja trajektorije mobilnoga robota koji uzima u obzir ograničenja brzina i ubrzanja robota

master's thesis

• Title (english): Algorithm for Trajectory Optimization of a Mobile Robot that Takes into Account Velocity and Acceleration Constraints
• Author: Antonija Šumiga
• Mentor: Ivan Petrović (mentor)
• Committee member: Ivan Petrović (predsjednik povjerenstva)
• Committee member: Marija Seder (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

Model gibanja robota s diferencijalnim pogonom uključuje njegov položaj u prostoru te translacijske i rotacijske brzine i ubrzanja kojima se robot giba. Riješen je optimizacijski problem gibanja mobilnog robota u prostoru od početne do zadane pozicije uzimajući u obzir ograničenja brzina i ubrzanja robota te izbjegavajući prepreke. Kriterij optimalnosti može biti kombinacija utrošene energije i vremena gibanja, u kojem slučaju govorimo o vremenski optimalnom gibanju robota. Problem je zbog svoje visoke dimenzionalnosti i nelinearnosti teško riješiti u stvarnom vremenu. Prikazana je usporedba optimizacijskih metoda prema dobivenim brzinama robota i trajektorijama te vremenu utrošenom za dobivanje optimalnog rješenja.

Abstract (english)

Motion model of a differential drive mobile robot includes its position in space and translational and rotational velocities and accelerations. The optimization problem of a mobile robot motion from its initial position to a goal position without colliding with obstacles and taking into account velocity and acceleration constraints has been solved. Optimization criteria can be a combination of energy efficiency and time spent, in this case we are talking about time-optimal robot motion. Because of its high dimensionality and nonlinearity, the problem is hard to solve in real-time. A comparison between the optimization methods is presented according to the obtained velocities and robot trajectories as well as the time spent to find the optimal solution.

• Keywords: mobilni robot; planiranje trajektorije; optimizacija; BVP4C; ACADO
• Keywords (english): mobile robot; trajectory planning; optimization; BVP4C; ACADO
• Language: croatian
• URN:NBN: urn:nbn:hr:168:985911
• 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 01:28:49