Kretanje mobilnog robota u strukturiranom zatvorenom okolišu korištenjem pametnih mapa

master's thesis

• Title (english): Mobile robot navigation in structured indoor environment using smart maps
• Author: Ivan Bejić
• Mentor: Zdenko Kovačić (mentor)
• Committee member: Zdenko Kovačić (predsjednik povjerenstva)
• Committee member: Stjepan Bogdan (član povjerenstva)
• Committee member: Tamara Petrović (član povjerenstva)
• Granter: University of Zagreb; Faculty of Electrical Engineering and Computing; Zagreb
• Defense date and country: 2020-02-25, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Electrical Engineering

Abstract

Za prethodno mapirani strukturirani zatvoreni prostor razraditi metodu kretanja i izvršavanja zadanog zadatka od strane mobilnog robota uz pomoć pametnih mapa. Pametnu mapu prostora kreirati tako da se postojećoj fizičkoj mapi pridruži ontološki opis elemenata u mapiranom prostoru koji dinamički prati, dodaje i eliminira bitne značajke elemenata povezanih sa zadanim zadatkom i njihove relacije kao potporu odlučivanju robota o načinu kretanja kod izvršenja zadanog zadatka. Za humanoidni robot Pepper odabrati i razraditi primjer (robot vodič, robot medicinski asistent ili sl.) u kojem će se demonstrirati mogućnosti izvršavanja robotskih zadataka na temelju dodatnog znanja o prostoru.

Abstract (english)

For pre-mapped structured indoor environment, develop a method of navigating and performing a given task by a mobile robot using smart maps. Create a smart map by joining an ontological description of the elements in the mapped space to an existing physical space map that dynamically monitors, adds, and eliminates the essential features of elements associated with a given task and their relationships that support the robot's decision-making on how to move when performing a given task. For the Pepper humanoid robot, select and develop an example (robot guide, robot nurse assistant, etc.) that will demonstrate the ability to perform robotic tasks based on additional knowledge of space.

• Keywords: navigacija; mobilni robot; pametne mape; uređeni prostor
• Keywords (english): navigation; mobile robot; smart maps; structured environment
• Language: croatian
• URN:NBN: urn:nbn:hr:168:946474
• Study programme: Title: Electrical Engineering and Information Technology; Study programme type: university; Study level: graduate; Academic / professional title: magistar/magistra inženjer/inženjerka elektrotehnike i informacijske tehnologije (magistar/magistra inženjer/inženjerka elektrotehnike i informacijske tehnologije)
• Type of resource: Text
• File origin: Born digital
• Access conditions: Closed access
• Created on: 2023-01-13 09:45:06