Autonomna izgradnja hijerarhije za planiranje putanje mobilnih robota u velikim prostorima

master's thesis

• Title (english): Autonomous hierarchy creation for path planning of mobile robots in large environments
• Author: Jelena Gregorić
• 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: 2021-07-13, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Electrical Engineering

Abstract

Mobilni roboti sve češće se koriste za rješavanje problema prijevoza ljudi i tereta. Postrojenja, skladišni i otvoreni prostori predstavljaju problem za kreiranje klasičnih grafova na jednoj razini. Veličina i složenost takvih prostora zahtijevaju graf s mnogo čvorova, a velika i neplanska pretraživanja grafova vremenski su jako zahtjevna. Ovaj diplomski rad bavi se pitanjem kako se izgradnja karte prostora i planiranje putanje može obaviti hijerarhijskom apstrakcijom prostora. U radu je opisan hijerarhijski graf koji se sastoji od više razina hijerarhijske apstrakcije. Opis prostora H-grafom olakšava izradu karte i planiranje putanje te reducira složenost grafa. U ovom radu razvijen je algoritam autonomne izgradnje hijerarhijske karte prostora iz slika tlocrta. Algoritam izgrađuje graf koji se sastoji od pet razina apstrakcije, a osnovna prednost H-grafa je to što se, po potrebi, može jednostavno proširiti na više razina apstrakcije.

Abstract (english)

Mobile robots are increasingly being used to solve the problem of transporting people and goods. Factories, warehouses and open spaces pose a problem for constructing classical graphs on a single level. The size and complexity of such environments require a graph with many nodes, and large, unplanned graph searches can be very time consuming. This thesis addresses the problem of constructing a map of the environment and path planning using a hierarchical abstraction of the environment. The thesis describes a hierarchical graph consisting of several hierarchical levels of abstraction. The description of the environment by an H-graph facilitates the creation of the map and path planning, and also reduces the complexity of the graph. In this thesis has been developed an algorithm for autonomous creation of a hierarchical map of the environment from the floor plan. The algorithm builds a graph consisting of five abstract layers. The main advantage of the H-graph is that it can be easily extended to more abstraction levels if needed.

• Keywords: mobilni robot; hijerarhijska apstrakcija prostora; hijerarhijsko pretraživanje; hijerarhijski graf; H-graf; apstraktna razina; mosni čvor; parcijalna putanja; mrežasta karta zauzeća; veliki prostori; soba; kat; zgrada
• Keywords (english): mobile robot; hierarchical abstraction of environment; hierarchical planning; hierarchical graph; H-graph; abstract level; bridge node; partial path; occupancy grid map; large environments; room; floor; building
• Language: croatian
• URN:NBN: urn:nbn:hr:168:091967
• 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 15:00:48