Planiranje gibanja mobilnih robota primjenom navigacijske funkcije bez lokalnih minimuma

master's thesis

• Title (english): Motion planning of mobile robots using the local-minima free navigation
• Author: Dino Bajić
• Mentor: Marija Seder (mentor)
• Committee member: Marija Seder (predsjednik povjerenstva)
• Committee member: Ivan Petrović (član povjerenstva)
• Committee member: Ivan Marković (član povjerenstva)
• Granter: University of Zagreb; Faculty of Electrical Engineering and Computing; Zagreb
• Defense date and country: 2021-09-24, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Computing

Abstract

Planiranje gibanja mobilnih robota uključuje pronalaženje globalnog puta do zadane pozicije (cilja) te upravljački algoritam koji će odvesti robota do cilja. Često se problem planiranja puta promatra zasebno od problema upravljanja gibanjem, dok pristup koji kombinira oba problema koristi takozvanu navigacijsku funkciju. Navigacijska funkcija sadrži informaciju o duljini puta iz svake točke prostora do cilja, uzima u obzir položaj prepreka, te ne smije imati nijedan lokalni minimum osim u ciljnoj točki. Upravljački algoritam formira se kao optimizacijski problem s pomičnim horizontom, koji uzima u obzir ograničenja gibanja robota te čije će rješenje dovesti robota na najnižu moguću vrijednost navigacijske funkcije. U diplomskom je radu implementiran algoritam navigacijske funkcije koristeći kao ulaz tlocrt prostora. Nadalje, algoritam je provjeren u simulatoru na raznim prostorima.
na stvarnom mobilnom robotu.

Abstract (english)

Motion planning for a mobile robot consists of finding a global path to a given position (goal) and a navigation control algorithm that will lead the robot to the goal. Often the planning problem is often viewed separately from the motion control problem, while an approach that combines both problems uses a so-called navigation function. The navigation function contains information on the length of the path from each point in space to the destination, taking into account the position of the obstacle, and must not have any local minimum except at the destination point. The control algorithm is formed as an optimization problem with a receding horizon, which
takes into account the constraints of the robot movement whose solution will bring
the robot to the lowest possible value of the navigation function. In this thesis, we implemented the algorithm of the navigation function using the floor plan of the space as the initial input. Furthermore, the algorithm is tested in a simulator for various environments.

• Keywords: navigacijska funkcija; planiranje gibanja; mobilni robot; upravljanje gibanjem
• Keywords (english): navigation function; motion planning; mobile robot; motion control
• Language: croatian
• URN:NBN: urn:nbn:hr:168:656342
• Study programme: Title: Computing; Study programme type: university; Study level: graduate; Academic / professional title: magistar/magistra inženjer/inženjerka računarstva (magistar/magistra inženjer/inženjerka računarstva)
• Type of resource: Text
• File origin: Born digital
• Access conditions: Closed access
• Created on: 2023-01-13 09:42:43