Autonomna navigacija robota nalik automobilu u utrkama

undergraduate thesis

• Title (english): Autonomous car-like robot navigation in racing
• Author: Barbara Pavlović
• Mentor: Marija Seder (mentor)
• Committee member: Marija Seder (član povjerenstva)
• Committee member: Ana Šelek (član povjerenstva)
• Committee member: Jelena Gregorić (član povjerenstva)
• Granter: University of Zagreb; Faculty of Electrical Engineering and Computing; Zagreb
• Defense date and country: 2022-07-04, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Computing

Abstract

U ovom je radu istraženo glatko planiranje gibanja mobilnog robota nalik automobilu s Ackermannovim pogonom. U simulatoru Gazebo izrađen je svijet u obliku trkaće staze na kojoj je robot smješten te koju je potrebno obići te postići da se robot vrati na mjesto pozicije s koje je krenuo. U vožnji robot mora izbjegavati statičke i dinamičke prepreke, što je omogućeno korištenjem algoritma DD* te metoda poravnanja orijentacije, zaglađivanja putanje, optimizacije brzina te praćenja putanje. Parametri u navedenim algoritmima zadani su s obzirom na karakteristike, odnosno ograničenja korištenog modela vozila. U svrhu vizualizacije vožnje robota po izrađenom svijetu, korišten je alat Rviz. U radu je pokazana važnost spomenutih algoritama radi postizanja izbjegavanja prepreka te optimizacije trajanja vožnje, kao i visoke razine usklađenosti vozila sa zadanom putanjom.

Abstract (english)

In this paper, smooth motion planning of a car-like mobile robot with Ackermann steering was researched. In the Gazebo simulator, a world was created in the form of a race track, where the robot was placed. The robot has to drive on the track and then return to its starting position. While driving, the robot must avoid static and dynamic obstacles, which is made possible by the use of the TWD* (two-way D*) algorithm and methods of orientation alignment, path smoothing, velocity optimization and trajectory tracking. The parameters in the above-mentioned algorithms are set with respect to the characteristics, i.e. limitations of the vehicle model used. For the purpose of visualization of the robot driving around the created world, the Rviz tool was used. This paper shows the importance of the mentioned algorithms in avoidance of obstacles and driving time optimization, as well as a high level of compliance of the vehicle with the given trajectory.

• Keywords: Ackermann; robot; navigacija; vožnja; prepreke; brzina; vozilo; zaglađivanje; optimizacija
• Keywords (english): Ackermann; robot; navigation; drive; obstacles; velocity; vehicle; smoothing; optimization
• Language: croatian
• URN:NBN: urn:nbn:hr:168:425675
• 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 11:00:50