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master's thesis
Navigacijski sustav za autonomni viličar s vilicama s više stupnjeva slobode
2022. urn:nbn:hr:168:386042
Zbodulja, Borna
University of Zagreb
Faculty of Electrical Engineering and Computing

Cite this document

Zbodulja, B. (2022). Navigacijski sustav za autonomni viličar s vilicama s više stupnjeva slobode (Master's thesis). Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing. Retrieved from https://urn.nsk.hr/urn:nbn:hr:168:386042

Zbodulja, Borna. "Navigacijski sustav za autonomni viličar s vilicama s više stupnjeva slobode." Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, 2022. https://urn.nsk.hr/urn:nbn:hr:168:386042

Zbodulja, Borna. "Navigacijski sustav za autonomni viličar s vilicama s više stupnjeva slobode." Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, 2022. https://urn.nsk.hr/urn:nbn:hr:168:386042

Zbodulja, B. (2022). 'Navigacijski sustav za autonomni viličar s vilicama s više stupnjeva slobode', Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, accessed 04 May 2024, https://urn.nsk.hr/urn:nbn:hr:168:386042

Zbodulja B. Navigacijski sustav za autonomni viličar s vilicama s više stupnjeva slobode [Master's thesis]. Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing; 2022 [cited 2024 May 04] Available at: https://urn.nsk.hr/urn:nbn:hr:168:386042

B. Zbodulja, "Navigacijski sustav za autonomni viličar s vilicama s više stupnjeva slobode", Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, Zagreb, 2022. Available at: https://urn.nsk.hr/urn:nbn:hr:168:386042

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Metadata
TitleNavigacijski sustav za autonomni viličar s vilicama s više stupnjeva slobode
Title (english)Navigation system for an autonomous forklift with multi-degree of freedom fork attachment
AuthorBorna Zbodulja
MentorZdenko Kovačić (mentor)
Committee memberZdenko Kovačić (član povjerenstva)
Committee memberMatko Orsag (član povjerenstva)
Committee memberGoran Vasiljević (član povjerenstva)
GranterUniversity of Zagreb
Faculty of Electrical Engineering and Computing
Zagreb
Defense date and country2022-07-14, Croatia
Scientific / art field,
discipline and subdiscipline		TECHNICAL SCIENCES
Electrical Engineering
Abstract
Cilj ovog rada je razviti navigacijski sustav za autonomnog viličara. Za navigaciju baze viličara razvijen je lokalni planer temeljen na konceptu modelskog prediktivnog upravljanja (MPC) koji koristi konveksne poligone za opis slobodnog prostora. U radu je napravljena usporedba razvijenog kontrolera s trenutno korištenim Pure Pursuit lo- kalnim planerom u statičkim i dinamičkim uvjetima. Za navigaciju vilica viličara ko- rišten je MoveIt paket te su podešeni odgovarajući aktuatori i regulatori za zglobove vilica. Implementirana je dinamička promjena podnog zauzeća viličara ovisno o boč- nom pomaku vilica.
Abstract (english)
The aim of this paper is to develop a navigation system for an autonomous fork- lift. A local planner based on the concept of model predictive control (MPC) has been developed to navigate the forklift base, which uses convex polygons to describe free space. The paper compares the developed controller with the currently used Pure Pur- suit local planner in static and dynamic environment. The MoveIt package was used to navigate the forks, and the appropriate actuators and regulators for the fork joints were set. A dynamic change of robot’s footprint based on the sideshift change of the fork has been implemented.
Keywords
Keywords (english)
Languagecroatian
URN:NBNurn:nbn:hr:168:386042
Study programmeTitle: 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 resourceText
File originBorn digital
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Created on2023-01-14 10:18:26