Algoritam za potpuno prekrivanje prostora pomoću višerobotskog sustava

undergraduate thesis

• Title (english): Multi-robot coverage path planning algorithm
• Author: Ivona Tomašić
• Mentor: Ivan Marković (mentor)
• Committee member: Ivan Marković (član povjerenstva)
• Committee member: Vlaho-Josip Štironja (član povjerenstva)
• Committee member: Jelena Gregorić (član povjerenstva)
• Granter: University of Zagreb; Faculty of Electrical Engineering and Computing; Zagreb
• Defense date and country: 2024-07-05, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Computing

Abstract

Rad započinje kratkim uvodom u problem potpunog prekrivanja prostora te motivaciju za korištenjem višerobotskih sustava. Također je opisana potreba za punjenjem baterije kod robota jer se želi izbjeći potreba za intervencijom čovjeka kad je robot prazan.
Opisane su korištene tehnologije i programi za realizaciju ovog rada te napravljena skripta za olakšavanje korištenja i baratanja mnogim datotekama potrebnima za simulaciju - skripta za pokretanje koja uzima gotovu konfiguraciju i pomoću nje dobiva sve parametre potrebne za simulaciju. Opisan je proces izrada mapa prostora za map_server i Gazebo, te način crtanja markera putanje za potpuno prekrivanje prostora robota na njegovoj podmapi u programu Gazebo.
Zatim je detaljno proveden algoritam za generiranje podmapa za svakog od robota u višerobotskom sustavu, te konfiguracijskih datoteka za lakše pokretanje. Opisane su tri faze algoritma: konkurentni BFS, finija prilagodba mape te agresivna prilagodba.
Izvedena je simulacija korištenja našeg sustava za potpunu prekrivenost prostora pomoću višerobotskog sustava - postupak pokretanja, generiranje mapa te simulacija prikazana u programu Gazebo. Prikazana su mjerenja i rezultati za dvije mape.
Zahtjev za punjenje baterije se odvija na jednoj mapi. Opisan je algoritam za slanje poruke robotu, te je prikazan u programu Rviz.

Abstract (english)

The paper begins with a brief introduction to the problem of complete coverage path planning and the motivation for using multi-robot systems. It also describes the necessity for battery recharging in robots to avoid the need for human intervention when a robot is out of power.
A list and brief description of the technologies used in the practical part of this paper are provided, and a helper script is created to facilitate the handling of numerous files required for simulation. The process of creating maps for map_server and Gazebo is described, as well as the method for drawing path markers for complete area coverage of the robot on its submap in the Gazebo program.
Detailed description of the algorithm for generating submaps for each robot in the multi-robot system is provided, along with configuration files for easier execution. Three phases of the algorithm are described: concurrent BFS, finer map adjustments, and aggressive adjustments.
A simulation of using our system for complete area coverage with a multi-robot system is performed - the execution process, map generation, and the simulation are shown in the Gazebo program. Measurements and results for two maps are presented.
The battery recharging requirement is demonstrated on one map. The algorithm for sending a message to the robot is described and demonstrated in the Rviz program.

• Keywords: CCPP; ros; gazebo; BFS; višerobotski sustav; potpuno prekrivanje prostora
• Keywords (english): CCPP; ros; gazebo; BFS; multi-robot; complete coverage path planning
• Language: croatian
• URN:NBN: urn:nbn:hr:168:431208
• 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: 2024-10-12 22:21:23