Pretraživanje otvorenih prostora mobilnim robotom u svrhu pronalaska poznatih objekata

master's thesis

• Title (english): Open Space Searching with a Mobile Robot for the Purpose of Finding Known Objects
• Author: Branimir Sesar
• Mentor: Zdenko Kovačić (mentor)
• Committee member: Zdenko Kovačić (predsjednik povjerenstva)
• Committee member: Stjepan Bogdan (član povjerenstva)
• Committee member: Matko Orsag (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

Ovaj rad daje opis različitih algoritama za pretraživanje prostora i odabir najpovoljnijeg sa stajališta pokrivenosti prostora i brzine pronalaženja objekata. Ovi algoritmi ispitani su u simulacijama za zadani prostor 100x70m. Efikasnost algoritama je također ispitana za druge tipove prostora (drugačija dimenzija i broj objekata). U svrhu samog pretraživanja koristi se mobilni robot Husky kojim se upravlja po globalnom pozicijskom sustavu (GPS). Također je implementiran sustav za zaobilaženje i detekciju objekata u prostoru.

Abstract (english)

This thesis gives a description of the various search algorithms and selection of the most convenient from the point of space coverage and the speed of finding objects. These algorithms were tested in simulations for the given space of 100x70m. Efficiency algorithms have also been tested for other types of space (different dimensions and number of objects). For the purpose of the search itself, a mobile robot Husky is used which is controlled by using the Global Positioning System (GPS). Also, a system for object detection and avoidance is implemented.

• Keywords: strategija pretraživanja; mobilni robot
• Keywords (english): search strategy; mobile robot
• Language: croatian
• URN:NBN: urn:nbn:hr:168:505046
• 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 21:58:05