Navigacija mobilnog robota za primjene u vinogradarstvu

undergraduate thesis

• Title (english): Navigation of a mobile robot used for vineyard applications
• Author: Ines Kovač
• Mentor: Tamara Petrović (mentor)
• Committee member: Tamara Petrović (predsjednik povjerenstva)
• Committee member: Ivan Hrabar (član povjerenstva)
• Committee member: Ana Milas (član povjerenstva)
• Granter: University of Zagreb; Faculty of Electrical Engineering and Computing; Zagreb
• Defense date and country: 2022-09-13, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Computing

Abstract

Mobilni roboti postaju sve važniji i prisutniji u modernom svijetu pronalazeći primjenu u raznim sferama društva kao što su gospodarstvo, znanost i svakodnevni ljudski život. U ovom radu razvijen je algoritam za navigaciju mobilnih robota čiji je cilj održavanje konstantne udaljenosti od prepreke uz koju se kreće. Motivacija za takav algoritam je primjena mobilnih robota za pomoć u vinogradarstvu te se algoritam može primijeniti pri kretanju robota kroz red vinograda. Algoritam je inspiriran Bug 0 algoritmom te je testiran u Gazebo simulatoru na modelu mobilnog robota Husky.

Abstract (english)

Mobile robots are becoming increasingly important and present in the modern world and are used in various fields of society, such as business, science and daily human life. In this paper, an algorithm for mobile robot navigation has been developed, whose objective is to maintain a constant distance from the obstacle along which the mobile robot is moving. The motivation for such an algorithm is the use of mobile robots to assist in viticulture. The algorithm can be applied when the robots are moving through a row in a vineyard. The algorithm was inspired by the Bug 0 algorithm and was tested in a Gazebo simulator on a model of a Husky mobile robot.

• Keywords: navigacija mobilog robota; bug algoritmi; slijeđenje prepreka; simulacija; mobilni roboti; izbjegavanje prepreka
• Keywords (english): mobile robot navigation; bug algorithms; obstacle following; simulation; mobile robots; obstacle avoidance
• Language: croatian
• URN:NBN: urn:nbn:hr:168:917632
• Study programme: Title: Computing; Study programme type: university; Study level: undergraduate; Academic / professional title: sveučilišni/a prvostupnik/ prvostupnica (baccalaureus/baccalaurea) inženjer/inženjerka računarstva (sveučilišni/a prvostupnik/ prvostupnica (baccalaureus/baccalaurea) inženjer/inženjerka računarstva)
• Type of resource: Text
• File origin: Born digital
• Access conditions: Closed access
• Created on: 2023-01-15 10:33:57