Socijalna navigacija mobilnih robota

master's thesis

• Title (english): Social navigation of mobile robots
• Author: Nikola Mandić
• Mentor: Marija Seder (mentor)
• Committee member: Marija Seder (član povjerenstva)
• Committee member: Ivan Marković (član povjerenstva)
• Committee member: Juraj Peršić (član povjerenstva)
• Granter: University of Zagreb; Faculty of Electrical Engineering and Computing; Zagreb
• Defense date and country: 2022-09-08, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Electrical Engineering

Abstract

Ljudski promatrači pokazuju nelagodu ukoliko se svesmjerni roboti gibaju u njihovom okruženju pošto njihovo kretanje ne nalikuje ljudskom gibanju. Socijalna navigacija nedavno je robotičko područje istraživanja u kojemu se nastoji imitirati ljudsko gibanje s ciljem povećanja dopadljivosti robota među ljudskom populacijom. U ovom radu je modelirano ljudsko kretanje te je razvijen navigacijski planer koji imitira ljudsko gibanje. Razvijeni planer je testiran u raznim scenarijima iz ljudske... More svakodnevice. Planer je potom direktno uspoređen sa snimljenim ljudskim trajektorijama. Less

Abstract (english)

Human observers show discomfort if omnidirectional robots move near them since their movement does not resemble human motion. Social navigation is a recent robotic field of research that seeks to imitate human motion with the goal of increasing the likeability of robots among the human population. In this work, human motion is observed and modeled and a navigation planner that imitates human motion is developed. The developed planner was tested in various scenarios from human everyday... More life. The planner was then directly compared with recorded human trajectories. Less

• Keywords: mobilni roboti; ljudsko gibanje; socijalna navigacija; MPC kontroler; ROS
• Keywords (english): mobile robots; human motion; social navigation; MPC controller; ROS
• Language: croatian
• URN:NBN: urn:nbn:hr:168:672149
• 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 21:04:09