Planiranje gibanja mobilnih robota primjenom navigacijske funkcije bez lokalnih minimuma

Bajić, Dino

prikaz prve stranice dokumenta Planiranje gibanja mobilnih robota primjenom navigacijske funkcije bez lokalnih minimuma

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master's thesis

Planiranje gibanja mobilnih robota primjenom navigacijske funkcije bez lokalnih minimuma

Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing, 2021. urn:nbn:hr:168:656342

Bajić, Dino

University of Zagreb
Faculty of Electrical Engineering and Computing

Cite this document

APA 6th Edition

Bajić, D. (2021). Planiranje gibanja mobilnih robota primjenom navigacijske funkcije bez lokalnih minimuma (Master's thesis). Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing. Retrieved from https://urn.nsk.hr/urn:nbn:hr:168:656342

MLA 8th Edition

Bajić, Dino. "Planiranje gibanja mobilnih robota primjenom navigacijske funkcije bez lokalnih minimuma." Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, 2021. https://urn.nsk.hr/urn:nbn:hr:168:656342

Chicago 17th Edition

Harvard

Bajić, D. (2021). 'Planiranje gibanja mobilnih robota primjenom navigacijske funkcije bez lokalnih minimuma', Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, accessed 21 March 2025, https://urn.nsk.hr/urn:nbn:hr:168:656342

Vancouver

Bajić D. Planiranje gibanja mobilnih robota primjenom navigacijske funkcije bez lokalnih minimuma [Master's thesis]. Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing; 2021 [cited 2025 March 21] Available at: https://urn.nsk.hr/urn:nbn:hr:168:656342

IEEE

D. Bajić, "Planiranje gibanja mobilnih robota primjenom navigacijske funkcije bez lokalnih minimuma", Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, Zagreb, 2021. Available at: https://urn.nsk.hr/urn:nbn:hr:168:656342

Cite this item: https://urn.nsk.hr/urn:nbn:hr:168:656342

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Metadata

Title	Planiranje gibanja mobilnih robota primjenom navigacijske funkcije bez lokalnih minimuma
Title (english)	Motion planning of mobile robots using the local-minima free navigation
Author	Dino Bajić
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	2021-09-24, Croatia
Scientific / art field, discipline and subdiscipline	TECHNICAL SCIENCES Computing
Abstract	Planiranje gibanja mobilnih robota uključuje pronalaženje globalnog puta do zadane pozicije (cilja) te upravljački algoritam koji će odvesti robota do cilja. Često se problem planiranja puta promatra zasebno od problema upravljanja gibanjem, dok pristup koji kombinira oba problema koristi takozvanu navigacijsku funkciju. Navigacijska funkcija sadrži informaciju o duljini puta iz svake točke prostora do cilja, uzima u obzir položaj prepreka, te ne smije imati nijedan lokalni minimum osim u ciljnoj točki. Upravljački algoritam formira se kao optimizacijski problem s pomičnim horizontom, koji uzima u obzir ograničenja gibanja robota te čije će rješenje dovesti robota na najnižu moguću vrijednost navigacijske funkcije. U diplomskom je radu implementiran algoritam navigacijske funkcije koristeći kao ulaz tlocrt prostora. Nadalje, algoritam je provjeren u simulatoru na raznim prostorima. na stvarnom mobilnom robotu.
Abstract (english)	Motion planning for a mobile robot consists of finding a global path to a given position (goal) and a navigation control algorithm that will lead the robot to the goal. Often the planning problem is often viewed separately from the motion control problem, while an approach that combines both problems uses a so-called navigation function. The navigation function contains information on the length of the path from each point in space to the destination, taking into account the position of the obstacle, and must not have any local minimum except at the destination point. The control algorithm is formed as an optimization problem with a receding horizon, which takes into account the constraints of the robot movement whose solution will bring the robot to the lowest possible value of the navigation function. In this thesis, we implemented the algorithm of the navigation function using the floor plan of the space as the initial input. Furthermore, the algorithm is tested in a simulator for various environments.
Keywords
Keywords (english)
Language	croatian
URN:NBN	urn:nbn:hr:168:656342
Study programme	Title: Computing Study programme type: university Study level: graduate Academic / professional title: magistar/magistra inženjer/inženjerka računarstva (magistar/magistra inženjer/inženjerka računarstva)
Type of resource	Text
File origin	Born digital
Access conditions	Closed access
Terms of use
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Repository	FER Repository
Created on	2023-01-13 09:42:43