Planiranje i izvođenje putanje mobilnog robota na temelju zadanog cilja i informacija s 3D kamere i laserskog senzora

undergraduate thesis

• Title (english): Planning and execution of mobile robot path based on target location and information from 3D camera and laser
• Author: Filip Vuksanović
• Mentor: Stjepan Bogdan (mentor)
• Committee member: Stjepan Bogdan (predsjednik povjerenstva)
• Committee member: Goran Vasiljević (član povjerenstva)
• Committee member: Frano Petric (član povjerenstva)
• Granter: University of Zagreb; Faculty of Electrical Engineering and Computing; Zagreb
• Defense date and country: 2018-09-06, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Electrical Engineering

Abstract

Planiranje i izvod¯enje putanje mobilnog robota na temelju zadanog cilja i informacija
s 3D kamere i laserskog senzora izvedeno je pomo´cu dva algoritma. Algoritmom
pure pursuit se odred¯uje najbrža putanja kojom se robot mora kretati kako bi došao
do željenog cilja. Cilj se odred¯uje cˇitanjem koordinatnih vrijednosti ARTaga pomoc´u
kamere. Na putu do cilja robot nailazi na prepreke i pomo´cu algoritma potencijala
polja preraˇcunava putanju kojom se mora kretati.
Simulacija sustava izvedena je u alatu Gazebo, a eksperimentalna evaluacija na
robotu Pioneer P3-DX u zgradi Fakulteta Elektrotehnike i Raˇcunarstva.

Abstract (english)

Planning and execution of mobile robot path based on target location and information
from 3D camera and laser is accomplished by using two algorithms. Pure pursuit
algorithm determines the fastest path for the robot to reach the desired target. The target
is determined by reading the coordinate values of ARTag using the camera. On the
way to the target, the robot encounters obstacles and uses potential field algorithm to
recalculate the path.
Simulations are executed in Gazebo, whereas experimental evaluation is carried out
on a Pioneer P3-DX robot inside the Faculty of Electrical Engineering and Computing
builiding.

• Keywords: mobilni robot; pure pursuit; potencijal polja; izbjegavanje prepreka
• Keywords (english): mobile robot; pure pursuit algorithm; potential field algorithm; avoiding obstacles
• Language: croatian
• URN:NBN: urn:nbn:hr:168:659433
• Study programme: Title: Electrical Engineering and Information Technology; Study programme type: university; Study level: undergraduate; Academic / professional title: sveučilišni/a prvostupnik/ prvostupnica (baccalaureus/baccalaurea) inženjer/inženjerka elektrotehnike i informacijske tehnologije (sveučilišni/a prvostupnik/ prvostupnica (baccalaureus/baccalaurea) inženjer/inženjerka elektrotehnike i informacijske tehnologije)
• Type of resource: Text
• File origin: Born digital
• Access conditions: Closed access
• Created on: 2019-03-14 02:13:16