Primjena stabala ponašanja za robusno izvršavanje zadataka robotskih sustava

undergraduate thesis

• Title (english): Behavior Tree method for robust execution of tasks in robotic systems
• Author: Luka Markovinović
• Mentor: Stjepan Bogdan (mentor)
• Committee member: Stjepan Bogdan (predsjednik povjerenstva)
• Committee member: Tamara Petrović (član povjerenstva)
• Committee member: Ana Milas (član povjerenstva)
• Granter: University of Zagreb; Faculty of Electrical Engineering and Computing; Zagreb
• Defense date and country: 2020-07-09, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Electrical Engineering

Abstract

U ovom radu istražena su stabla ponašanja za planiranje izvršavanja robotskih zadataka te dostupne biblioteke za njihovu primjenu. Proučena su stabla ponašanja kao alternativa konačnim automatima. Implementacija primjera napravljena je u ROS Behavior Tree biblioteci čije je korištenje također objašnjeno, Gazebo simulatoru kao i u Turtlesim alatu. Osmišljena je kompleksnija teorijska struktura stabla ponašanja za misiju letjelice koja gasi požare uz slijeđenje trajektorije. Također, proučeni su problemi ostvarenja praćenja trajektorije kod stabala ponašanja i opisana su moguća rješenja.

Abstract (english)

This paper considers behavior trees for robotic task execution as well as open source libraries for their implementation. Behavior trees have been compared with finite state machines to acknowledge the pros and cons of their usage. Test scenarios were made using ROS Behavior Tree library, with an explanation how to use it, as well as Gazebo and Turtlesim simulators. More complex behavior tree structure was composed for an UAV mission which was putting out fires while following a trajectory. Furthermore, trajectory following problems while using behavior trees were analysed and some improvements have been suggested.

• Keywords: stabla ponašanja; konačni automati; trajektorija; robotski zadaci; robotski sustavi
• Keywords (english): behavior trees; finite state machines; trajectory; robotic tasks; robotic systems
• Language: croatian
• URN:NBN: urn:nbn:hr:168:152554
• 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: 2023-01-14 09:27:07