Planiranje gibanja mobilnih robota u kontinuiranom prostoru konfiguracija

master's thesis

• Title (english): Motion planning of mobile robots in continuous configuration space
• Author: Tomislav Križanović
• Mentor: Marija Seder (mentor)
• Committee member: Marija Seder (član povjerenstva)
• Committee member: Ivan Petrović (član povjerenstva)
• Committee member: Juraj Peršić (član povjerenstva)
• Granter: University of Zagreb; Faculty of Electrical Engineering and Computing; Zagreb
• Defense date and country: 2022-07-13, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Electrical Engineering

Abstract

U ovom radu obrađen je problem pronalaska glatke putanje mobilnog robota s diferencijalnim pogonom. Robot se nalazi u poznatom okruženju s preprekama, a njegov trenutni položaj i željeni položaj poznati su. Prostor se pretražuje E* algoritmom radi dobivanja najkraćeg puta i cijena svih čvorova karte, a na temelju tih informacija se izgrađuje putanja koja se sastoji od Bernstein-Bézierovih krivulja petog reda. Osim što su pogodne zbog prilagodljivog oblika i duljine, njima se jednostavno uključuju kinematička ograničenja robota. Algoritam je uspoređen s hibridnim E* algoritmom, kojim je i inspiriran. Putanje dobivene ovim algoritmima ne razlikuju se značajno po duljini, ali predloženi algoritam generira bitno pogodniju putanju u vidu profila brzina.

Abstract (english)

This paper deals with continuous and smooth path finding for differential drive mobile robot. Robot is located in known environment, filled with obstacles while starting and desired robot pose are also known. Firstly, E* search is performed to find shortest path and node prices. Based on this information, smooth path consisting of fifth order Bernstein-Bezier curves is generated. Benefit of using these curves for path finding is their flexibility when it comes to length and shape of path segments as well as a simple way to include robots kinematic constrains. Performance of proposed algorithm is compared to that of Hybrid E*, by which it is inspired. Paths generated using these algorithms do not differ much when it comes to path length, but when it comes to velocity profiles, proposed algorithm gives much better results.

• Keywords: planiranje gibanja; mobilni roboti; pretraživanje grafova; hibridno planiranje putanje
• Keywords (english): motion plainning; mobile robots; graph search; hybrid path planning
• Language: croatian
• URN:NBN: urn:nbn:hr:168:721567
• 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: 2023-01-14 09:12:56