Upravljanje brzinom mobilne platforme vodiča uz ograničenje ubrzanja i izbjegavanje trzaja

master's thesis

• Title (english): Speed control of guiding mobile platform under acceleration constraint and jerk avoidance
• Author: Filip Kozlik
• Mentor: Zdenko Kovačić (mentor)
• Committee member: Zdenko Kovačić (predsjednik povjerenstva)
• Committee member: Stjepan Bogdan (član povjerenstva)
• Committee member: Damjan Miklić (član povjerenstva)
• Granter: University of Zagreb; Faculty of Electrical Engineering and Computing; Zagreb
• Defense date and country: 2019-07-18, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Electrical Engineering

Abstract

U ovom diplomskom radu obrađena je tema lokalnog izbjegavanja prepreka s načinima upravljanja brzinom mobilne platforme vodiča uz ograničenje akceleracije i izbjegavanje trzaja. Prilikom izbjegavanja prepreka korištene su Bezierove krivulje. Njihovim korištenjem zadržava se kontinuirana i glatka putanja koju robot s lakoćom prolazi. Za glatko upravljanje robotom bitno je postići trzaj ograničenog iznosa. Ograničenim trzajem krivulja akceleracije postaje kontinuirana, a brzina kontinuirana i glatka krivulja. Diplomski rad testiran je u simulacijskom okruženju i implementiran na stvarnoj mobilnoj platformi.

Abstract (english)

The subject of this master thesis is local obstacle avoidance with speed control of a mobile platform under constrained acceleration and bounded jerk. Obstacle avoidance is implemented using Bezier curves, which enables a continuous and smooth avoidance path. For smooth robot movement, it is important to have bounded jerk. In that case acceleration curve is continuous and velocity is a continuous and smooth curve. Experimental validation was done in simulation environment and implemented on a mobile robot platform.

• Keywords: upravljanje brzinom; mobilna platforma; ograničenje ubrzanja; izbjegavanje trzaja; lokalno izbjegavanje prepreka
• Keywords (english): velocity control; mobile robot platform; acceleration constraint; bounded jerk; local obstacle avoidance
• Language: croatian
• URN:NBN: urn:nbn:hr:168:150735
• 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: 2020-01-07 19:19:48