Programska biblioteka za prilagodbu kretanja robota u ovisnosti o kretanju povezanog objekta

undergraduate thesis

• Title (english): A Program Library for robot movement adjustment based on bound object movement
• Author: Tin Komerički
• Mentor: Boris Milašinović (mentor)
• Committee member: Boris Milašinović (predsjednik povjerenstva)
• Committee member: Juraj Dončević (član povjerenstva)
• Committee member: Tomislav Jagušt (član povjerenstva)
• Granter: University of Zagreb; Faculty of Electrical Engineering and Computing; Zagreb
• Defense date and country: 2019-07-12, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Computing

Abstract

Cilj ovog rada je izrada biblioteke za robotski operacijski sustav za navigaciju robota do određenog cilja i regulaciju brzine prilikom kretanja u ovisnosti o udaljenosti od povezanog objekta. U sklopu rada opisana je matematička podloga potrebna za izvođenje regulacije brzine, tehnologije koje su korištene za izradu rada i postupak implementacije rješenja kroz tri faze. Rezultat rada je javno dostupna biblioteka koja zadovoljava postavljene zahtjeve. Uspješnost izrade biblioteke eksperimentalno je provjerena na robotu Pioneer P3-DX u kontroliranim uvjetima u javnom prostoru.

Abstract (english)

The goal of this paper is to create a program library for robotic operating system whose task is to navigate the robot to a certain goal while maintaining fixed distance to a bound object. The paper discusses the mathematical background required to perform the movement adjustment, technologies used for developing the software and software implementation split in three parts. The result of the paper is a publicly available library which satisfies all demands. Library has been experimentally tested on a pioneer P3-DX robot under controlled conditions in a public area.

• Keywords: mobilna robotika; ROS; detekcija prepreka; regulacija brzine; navigacija
• Keywords (english): Mobile Robotics; ROS; Obstacle Detection; Speed Control; Navigation
• Language: croatian
• URN:NBN: urn:nbn:hr:168:037009
• 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: 2020-01-07 19:11:42