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master's thesis
Navigacija mobilnog robota u zatvorenim prostorima
Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing, 2023. urn:nbn:hr:168:556545
Piliškić, Marija
University of Zagreb
Faculty of Electrical Engineering and Computing

Institutional repository: FER Repository

Cite this document

Piliškić, M. (2023). Navigacija mobilnog robota u zatvorenim prostorima (Master's thesis). Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing. Retrieved from https://urn.nsk.hr/urn:nbn:hr:168:556545

Piliškić, Marija. "Navigacija mobilnog robota u zatvorenim prostorima." Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, 2023. https://urn.nsk.hr/urn:nbn:hr:168:556545

Piliškić, Marija. "Navigacija mobilnog robota u zatvorenim prostorima." Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, 2023. https://urn.nsk.hr/urn:nbn:hr:168:556545

Piliškić, M. (2023). 'Navigacija mobilnog robota u zatvorenim prostorima', Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, accessed 27 December 2024, https://urn.nsk.hr/urn:nbn:hr:168:556545

Piliškić M. Navigacija mobilnog robota u zatvorenim prostorima [Master's thesis]. Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing; 2023 [cited 2024 December 27] Available at: https://urn.nsk.hr/urn:nbn:hr:168:556545

M. Piliškić, "Navigacija mobilnog robota u zatvorenim prostorima", Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, Zagreb, 2023. Available at: https://urn.nsk.hr/urn:nbn:hr:168:556545

Metadata
TitleNavigacija mobilnog robota u zatvorenim prostorima
Title (english)Mobile robot navigation in indoor environments
AuthorMarija Piliškić
MentorStjepan Bogdan (mentor)
Committee memberStjepan Bogdan (član povjerenstva)
Committee memberTamara Petrović (član povjerenstva)
Committee memberGoran Vasiljević (član povjerenstva)
GranterUniversity of Zagreb
Faculty of Electrical Engineering and Computing
Zagreb
Defense date and country2023-07-12, Croatia
Abstract
Navigacija autonomnih robota u zatvorenim prostorima se istaknula kao značajno područje u istraživanju u robotici. Cilj je omogućiti robotima da autonomno navigiraju zatvorenim prostorima, precizno se lokaliziraju i efektivno kreiraju i izvršavaju planove kako bi obavili neki zadatak. U ovom radu predtstavit ćemo postojeća rješenja i metode za navigaciju u zatvorenim prostorima. Jedno od takvih rješenja je algoritam teach-and-repeat (eng. nauči i ponovi), koji omogućava robotu da navigira putem kojeg je prethodno izveo ljudski operater, time pojednostavljujući proces navigacije na slijeđenje putanje i izbjegavajući kompleksne probleme procjene terena i planiranja putanje u nestrukturiranim okruženjima. Teach-and-repeat algoritam je implementiran i testiran koristeći lidar kao glavni senzor u novom zatvorenom prostoru. Nadalje, sustav za detekciju dinamičnih prepreka je implementiran i testiran uz sustav.
Abstract (english)
Indoor navigation for autonomous robots has emerged as a significant research area in the field of robotics. The goal of indoor navigation is to enable robots to autonomously traverse indoor spaces, accurately localize themselves, and effectively plan and execute their movements to accomplish specific tasks. In this paper, we will explore existing indoor navigation solutions, one of which is the teach and repeat algorithm that allows the robot to navigate along paths previously taught by a human operator, simplifying the navigation process to path following, and avoiding the complexities of terrain assessment and path planning in unstructured environments. The teach and repeat algorithm will be implemented and tested using a lidar sensor in a new indoor environment. Furthermore, a system for indoor obstacle detection will be implemented and tested with the teach-and-repeat algorithm pipeline.
Keywords
Keywords (english)
Languageenglish
URN:NBNurn:nbn:hr:168:556545
Study programmeTitle: Information and Communication Technology
Study programme type: university
Study level: graduate
Academic / professional title: magistar/magistra inženjer/inženjerka informacijske i komunikacijske tehnologije (magistar/magistra inženjer/inženjerka informacijske i komunikacijske tehnologije)
Type of resourceText
File originBorn digital
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Created on2023-10-11 10:09:12