Localization, motion planning and control of mobile robots in intelligent spaces

doctoral thesis

• Title (croatian): Lokalizacija, planiranje gibanja i upravljanje mobilnim robotima u inteligentnim prostorima
• Author: Mišel Brezak
• Mentor: Ivan Petrović (mentor)
• Committee member: Sven Lončarić (predsjednik povjerenstva)
• Committee member: Joško Deur (član povjerenstva)
• Granter: University of Zagreb; Faculty of Electrical Engineering and Computing; Zagreb
• Defense date and country: 2010-03-26, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Computing
• Universal decimal classification (UDC): 004 - Computer science and technology. Computing. Data processing

Abstract

This thesis investigates application of mobile robots in environments provided
with ambient intelligence to form the so-called Intelligent Spaces (iSpaces). The purpose of the iSpace is providing various services to its users, where mobile robots provide numerous possibilities, such as load delivery, visitor guidance etc. Thus the focus of the thesis is set to developing the capability of the space to fully utilize mobile robots, with the emphasis on development of low-level algorithms that can benefit by using intelligent space advantages, such as precise localization and mapping and increased computational power. In this way a method for fast and precise mobile robot localization using distributed cameras is developed. The developed algorithm enables high framerates and at the same time high measurement precision and accuracy as it works in subpixel precision. The algorithm was tested in multiple experiments and performed with very good results. Second, a fast and flexible robot mobile robot motion planning method appropriate for application in iSpaces is developed. The developed motion planner is decoupled
and consists of four stages: path planning, path smoothing, trajectory planning and trajectory tracking. The method can replan the path in real time, which enables planning in dynamic environments.

Abstract (croatian)

Disertacija obrađuje primjenu mobilnih robota u prostorima opremljenim prostornom inteligencijom, tvoreći na taj način tzv. inteligentne prostore (iProstore). Svrha iProstora je pružanje usluga korisnicima prostora, gdje mobilni roboti pružaju brojne mogućnosti, primjerice dostavu, vođenje posjetitelja itd. Stoga je težište disertacije stavljeno na razvoj mogućnosti prostora da u potpunosti iskoristi mobilne robote, s naglaskom na razvoj algoritama niže razine koji mogu iskoristiti prednosti inteligentnih prostora, kao što su precizna lokalizacija i kartiranje te povećana računalna snaga. U prvom redu, razvijena je brza i precizna metoda lokalizacije korištenjem sustava raspodijeljenih kamera (tzv. sustav globalnog vida). Razvijeni algoritam omogućava obradu velikog broja slika u sekundi, i istodobno visoku preciznost i točnost mjerenja, budući da radi u području potpiksela. Algoritam je ispitan kroz više eksperimenata koji su pokazali vrlo dobre rezultate. Zatim je razvijena brza i fleksibilna metoda planiranja gibanja mobilnih robota pogodna za inteligentne prostore. Razvijeni planer gibanja je raspodijeljen i sastoji se od èetiri faze: planiranje putanje, izglađivanje putanje, planiranje trajektorije i slijeđenje trajektorije. Metoda omogućava replaniranje putanje u stvarnom vremenu, čime je omogućeno planiranje u dinamičkim prostorima.

• Keywords: Intelligent Spaces; mobile robotics; global vision; motion planning; trajectory tracking
• Keywords (english): Inteligentni Prostori; mobilna robotika; globalni vid; planiranje gibanja; praæenje trajektorije
• Language: english
• URN:NBN: urn:nbn:hr:168:150149
• Promotion: 2010
• Study programme: Title: Computer Science; Study programme type: university; Study level: postgraduate; Academic / professional title: Doktor znanosti (Doktor znanosti)
• Type of resource: Text
• Extent: vi, 229 str. : graf. prikazi
• File origin: Born digital
• Access conditions: Open access
• Created on: 2024-03-19 13:17:11