Planiranje gibanja autonomnih mobilnih robota u dinamičkim i nepoznatim unutarnjim prostorima

doctoral thesis

• Title (english): Motion planning of autonomous mobile robots in dynamic and unknown indoor environments
• Author: Marija Đakulović; MBZ: 267666
• Mentor: Ivan Petrović (mentor)
• Committee member: Mato Baotić (predsjednik povjerenstva)
• Committee member: Robert Manger (član povjerenstva)
• Committee member: Nedjeljko Perić (član povjerenstva)
• Granter: University of Zagreb; Faculty of Electrical Engineering and Computing; Zagreb
• Defense date and country: 2010-05-28, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Computing
• Universal decimal classification (UDC): 004 - Computer science and technology. Computing. Data processing

Abstract

U ovom je radu istražen problem planiranja gibanja autonomnih mobilnih robota u dinamičkim i nepoznatim unutarnjim prostorima s posebnim naglaskom na algoritme prikladne za rad u stvarnom vremenu koji osiguravaju učinkovito gibanje robota uz zajamčeno izbjegavanje gibajućih prepreka u prostoru. Razvijen je algoritam planiranja geometrijske putanje zasnovan na mrežastoj karti zauzeća koji izračunava najkraću putanju u geometrijskom prostoru. Razvijen je algoritam izgradnje hijerarhijske karte prostora te algoritam hijerarhijskog planiranja putanje čime je osigurano planiranje gibanja mobilnog robota u stvarnom vremenu u velikim unutarnjim prostorima. Problem planiranja gibanja mobilnog robota u nepoznatim prostorima riješen je razvijenim algoritmom istraživanja prostora kojime je postignuta konvergencija algoritma istraživanja u realnim uvjetima. Opisane su metode slijeđenja isplanirane putanje, zasnovane na algoritmu dinamičkog prozora, koje proračunavaju moguće trajektorije s obzirom na kinematička i dinamička ograničenja robota. Uveden je kriterij objedinjavanja algoritma planiranja putanje i algoritma dinamičkog prozora. Razvijenim objedinjenim algoritmom planiranja gibanja osigurano je sigurno i glatko gibanje bez zastoja među statičkim i gibajućim preprekama. Naposlijetku, razvijen je algoritam planiranja gibanja zasnovan na konceptu pomičnog horizonta, za koji je dokazana asimptotska stabilnost ciljne točke korištenjem Ljapunovljeve analize stabilnosti. Svi su predloženi algoritmi testirani simulacijski i eksperimentalno na stvarnom robotu.

Abstract (english)

This thesis focuses on the problem of path planning for autonomous mobile robots in dynamic and unknown indoor environment. Special emphasis is set on algorithms suitable for real-time applications which should ensure the efficient movement of a robot with guaranteed moving obstacles avoidance in the environment. A path planning algorithm based on the grid map that calculates the shortest path in the geometric space is proposed. An algorithm of automatic creation of the hierarchical graph is proposed together with the hierarchical path planning algorithm suitable for mobile robot's motion in real-time in a complex indoor environment. The problem of motion planning of mobile robot in unknown environment is solved by the proposed exploration algorithm, by which convergence of the exploration task in real terms is achieved. The path following methods based on dynamic window approach are considered, which take into account kinematic and dynamic constraints of the robot. The criterion for integration of the path planning algorithm and the dynamic window algorithm is introduced. The integrated motion planning algorithm is proposed which ensures a safe and smooth motion among moving obstacles. Finally, the motion planning algorithm based on the concept of receding horizon control is proposed, for which asymptotic stability of the goal point is proven via Lyapunov stability analysis. All proposed algorithms are tested by simulation and experimentally on a real robot in laboratory environments.

• Keywords: mobilni robot; planiranje putanje; hijerarhijska apstrakcija prostora; hijerarhijsko planiranje; istraživanje prostora; planiranje gibanja; izbjegavanje prepreka; izbjegavanje gibajućih prepreka
• Keywords (english): mobile robot; path planning; hierarchical abstraction of space; hierarchical planning; exploration; motion planning; obstacle avoidance; moving obstacles avoidance
• Language: croatian
• URN:NBN: urn:nbn:hr:168:772080
• 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: 203 str. : graf. prikazi
• File origin: Born digital
• Access conditions: Open access
• Created on: 2024-03-20 13:07:13