Koordinirano planiranje gibanja i upravljanje mobilnim robotima za zajednički prijevoz velikog tereta

master's thesis

• Title (english): Coordinated motion planning and control of mobile robots for joint transportation of large objects
• Author: Borna Paro
• Mentor: Ivan Marković (mentor)
• Committee member: Ivan Marković (član povjerenstva)
• Committee member: Ivan Petrović (član povjerenstva)
• Committee member: Luka Petrović (član povjerenstva)
• Granter: University of Zagreb; Faculty of Electrical Engineering and Computing; Zagreb
• Defense date and country: 2024-07-10, Croatia

Abstract

U ovom radu prikazana je metoda za koordinirano planiranje gibanja i upravljanje dvoje autonomnih mobilnih robota za zajednički transport tereta koji je prevelik za jednog robota. Metoda je implementirana unutar okruženja Robot Operating System (ROS) i testirana u scenarijima simulacije i stvarnog svijeta. Metoda se sastoji od dva robota koji imaju veliki teret na sebi gdje zajedno tvore novi kinematički lanac. Zatim, optimalni put je izračunat za cijeli kinematički lanac diferencijalnog pogona koji osigurava prijevoz tereta do željenog cilja bez sudara s preprekama. Nakon toga, implementirani algoritam šalje upravljačke naredbe svakom robotu zasebno, čime se postiže koordinirano izvođenje planiranog puta. Predloženi pristup može biti primijenjen u područjima kao što su logistika i industrijska robotika, pridonoseći optimizaciji procesa prijenosa tereta i poboljšanje učinkovitosti autonomnih robota u radnim okruženjima.

Abstract (english)

In this thesis a method is presented for coordinated motion planning and control of two autonomous mobile robots for the joint transport of cargo that is too large for one robot. The method was implemented within the Robot Operating System (ROS) environment and validated in simulation and real world scenarios. The method consists of two robots having large cargo on top of them where they together form a new kinematic chain. Then, the optimal path is planned for the entire differential drive kinematic chain that ensures the transport of the cargo to the desired target location collision free. After that, the implemented algorithm sends control commands to each robot separately, which achieves the coordinated execution of the planned path. The proposed approach can be widely applied in areas such as logistics and industrial robotics, contributing to the optimization of the load transfer process and improving the efficiency of autonomous robots in work environments.

• Keywords: autonomni mobilni roboti; ROS; Python; C++; planiranje puta; koordinirano planiranje gibanja; diferencijalni pogon; kinematički lanac
• Keywords (english): autonomous mobile robots; ROS; Python; C++; path planning; coordinated motion planning; differential drive; kinematic chain
• Language: english
• URN:NBN: urn:nbn:hr:168:711842
• Study programme: Title: Information and Communication Technology; Study programme type: university; Study level: graduate; Academic / professional title: magistar/magistra inženjer/inženjerka informacijske i komunikacijske tehnologije (magistar/magistra inženjer/inženjerka informacijske i komunikacijske tehnologije)
• Type of resource: Text
• File origin: Born digital
• Access conditions: Closed access
• Created on: 2024-10-12 21:46:01