Planiranje misije mobilnih robota u strukturiranom plasteniku

master's thesis

• Title (english): Mission planning for mobile robots in a structured greenhouse
• Author: Filip Mihelčić
• Mentor: Matko Orsag (mentor)
• Committee member: Matko Orsag (član povjerenstva)
• Committee member: Damjan Miklić (član povjerenstva)
• Committee member: Tamara Petrović (član povjerenstva)
• Granter: University of Zagreb; Faculty of Electrical Engineering and Computing; Zagreb
• Defense date and country: 2022-07-13, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Electrical Engineering

Abstract

U ovom radu opisane su metode lokalizacije, planiranja putanje te slijeđenja putanje kod mobilnih robota. Odabrane metode koje su implementirane na platformi mobilnog robota su detaljnije opisane. Također je opisano planiranje misija heterogenog robotskog sustava i upravljanje prometom mobilnih robota. Odabrana je metoda slična Bankarevom algoritmu za implementaciju algoritma upravljanja prometom unutar strukturiranog staklenika. Algoritam je implementiran na bazi ROS biblioteke u jeziku C++. Uz algoritam korišteni su dodatni alati za izrađivanje Roadmap-a, potrebni algoritmu za normalan rad. U konačnici se eksperimentom unutar Gazebo simulatora isprobava rad algoritma za upravljanje prometa. Sustav se testira na mobilnom robotu Pioneer 3-DX.

Abstract (english)

This thesis describes researched methods of localization, path planning and path following for mobile robots. The methods that were chosen to implement on the mobile robot platform are described in more detail. Furthermore, algorithms for mission planning in heterogenous robotic systems and traffic management of mobile robots are also described. A method of mobile robot traffic management in a structured greenhouse is implemented, based on the Banker's algorithm. The algorithm is implemented using the C++ ROS framework library. Other tools for Roadmap building are used by the algorithm, so it could function properly. Ultimately an experiment is conducted inside the Gazebo simulator so that the functionalyit of the algorithm could be tested. The system is tested on the Pioneer 3-DX mobile robot.

• Keywords: SLAM; planiranje putanje; upravljanje prometom; ROS; Bankarev algoritam
• Keywords (english): SLAM; path planning; traffic management; ROS; Banker's alghoritm
• Language: croatian
• URN:NBN: urn:nbn:hr:168:356637
• 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: 2023-01-14 09:33:21