Izbjegavanje prepreka korištenjem algoritma potencijalnih polja dobivenih iz očitanja 3D lasera

undergraduate thesis

• Title (english): Potential field based obstacle avoidance by using data from 3D LIDAR
• Author: Erik Leibner
• Mentor: Stjepan Bogdan (mentor)
• Committee member: Stjepan Bogdan (predsjednik povjerenstva)
• Committee member: Frano Petric (član povjerenstva)
• Committee member: Ana Batinović (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; Electrical Engineering

Abstract

U radu je implementiran algoritam izbjegavanja prepreka u okruženju u kojem se kreće bespilotna letjelica. Algoritam se temelji na djelovanju potencijalnih polja koja koriste razliku potencijala za kretanje bespilotnom letjelicom. Opisan je i dodatni algoritam autonomnog kretanja u zatvorenom prostoru. Eksperimentalni rezultati algoritama testirani su u Gazebo simulacijskom okruženju, u kojem je zatvoreni prostor omeđen zidnim preprekama.

Abstract (english)

This thesis considers obstacle avoidance algorithm for an unmanned aerial vehicle (UAV). The algorithm is based on the potential difference that navigates UAV through an environment. An additional autonomous motion algorithm is also presented. Experiments were conducted in the Gazebo simulation environment enclosed by wall obstacles.

• Keywords: velodyne laserski senzor; oblak točaka; potencijalna polja; LIDAR
• Keywords (english): point cloud; velodyne laser sensor; potential field; LIDAR
• Language: croatian
• URN:NBN: urn:nbn:hr:168:376982
• 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: 2020-01-07 19:40:26