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doctoral thesis
Localization, motion planning and control of mobile robots in intelligent spaces
Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing, 2010. urn:nbn:hr:168:150149
Brezak, Mišel
University of Zagreb
Faculty of Electrical Engineering and Computing

Institutional repository: FER Repository

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Brezak, M. (2010). Localization, motion planning and control of mobile robots in intelligent spaces (Doctoral thesis). Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing. Retrieved from https://urn.nsk.hr/urn:nbn:hr:168:150149

Brezak, Mišel. "Localization, motion planning and control of mobile robots in intelligent spaces." Doctoral thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, 2010. https://urn.nsk.hr/urn:nbn:hr:168:150149

Brezak, Mišel. "Localization, motion planning and control of mobile robots in intelligent spaces." Doctoral thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, 2010. https://urn.nsk.hr/urn:nbn:hr:168:150149

Brezak, M. (2010). 'Localization, motion planning and control of mobile robots in intelligent spaces', Doctoral thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, accessed 14 January 2025, https://urn.nsk.hr/urn:nbn:hr:168:150149

Brezak M. Localization, motion planning and control of mobile robots in intelligent spaces [Doctoral thesis]. Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing; 2010 [cited 2025 January 14] Available at: https://urn.nsk.hr/urn:nbn:hr:168:150149

M. Brezak, "Localization, motion planning and control of mobile robots in intelligent spaces", Doctoral thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, Zagreb, 2010. Available at: https://urn.nsk.hr/urn:nbn:hr:168:150149

Metadata
TitleLocalization, motion planning and control of mobile robots in intelligent spaces
Title (croatian)Lokalizacija, planiranje gibanja i upravljanje mobilnim robotima u inteligentnim prostorima
AuthorMišel Brezak
MentorIvan Petrović (mentor)
Committee memberSven Lončarić (predsjednik povjerenstva)
Committee memberJoško Deur (član povjerenstva)
GranterUniversity of Zagreb
Faculty of Electrical Engineering and Computing
Zagreb
Defense date and country2010-03-26, Croatia
Scientific / art field,
discipline and subdiscipline		TECHNICAL SCIENCES
Computing
Universal decimal classification
(UDC)		004 - Computer science and technology. Computing. Data processing
Abstract
This thesis investigates application of mobile robots in environments provided with ambient intelligence to form the so-called Intelligent Spaces (iSpaces). The purpose of the iSpace is providing various services to its users, where mobile robots provide numerous possibilities, such as load delivery, visitor guidance etc. Thus the focus of the thesis is set to developing the capability of the space to fully utilize mobile robots, with the emphasis on development of low-level algorithms that can benefit by using intelligent space advantages, such as precise localization and mapping and increased computational power. In this way a method for fast and precise mobile robot localization using distributed cameras is developed. The developed algorithm enables high framerates and at the same time high measurement precision and accuracy as it works in subpixel precision. The algorithm was tested in multiple experiments and performed with very good results. Second, a fast and flexible robot mobile robot motion planning method appropriate for application in iSpaces is developed. The developed motion planner is decoupled and consists of four stages: path planning, path smoothing, trajectory planning and trajectory tracking. The method can replan the path in real time, which enables planning in dynamic environments.
Abstract (croatian)
Disertacija obrađuje primjenu mobilnih robota u prostorima opremljenim prostornom inteligencijom, tvoreći na taj način tzv. inteligentne prostore (iProstore). Svrha iProstora je pružanje usluga korisnicima prostora, gdje mobilni roboti pružaju brojne mogućnosti, primjerice dostavu, vođenje posjetitelja itd. Stoga je težište disertacije stavljeno na razvoj mogućnosti prostora da u potpunosti iskoristi mobilne robote, s naglaskom na razvoj algoritama niže razine koji mogu iskoristiti prednosti inteligentnih prostora, kao što su precizna lokalizacija i kartiranje te povećana računalna snaga. U prvom redu, razvijena je brza i precizna metoda lokalizacije korištenjem sustava raspodijeljenih kamera (tzv. sustav globalnog vida). Razvijeni algoritam omogućava obradu velikog broja slika u sekundi, i istodobno visoku preciznost i točnost mjerenja, budući da radi u području potpiksela. Algoritam je ispitan kroz više eksperimenata koji su pokazali vrlo dobre rezultate. Zatim je razvijena brza i fleksibilna metoda planiranja gibanja mobilnih robota pogodna za inteligentne prostore. Razvijeni planer gibanja je raspodijeljen i sastoji se od èetiri faze: planiranje putanje, izglađivanje putanje, planiranje trajektorije i slijeđenje trajektorije. Metoda omogućava replaniranje putanje u stvarnom vremenu, čime je omogućeno planiranje u dinamičkim prostorima.
Keywords
Keywords (english)
Languageenglish
URN:NBNurn:nbn:hr:168:150149
Promotion2010
Study programmeTitle: Computer Science
Study programme type: university
Study level: postgraduate
Academic / professional title: Doktor znanosti (Doktor znanosti)
Type of resourceText
Extentvi, 229 str. : graf. prikazi
File originBorn digital
Access conditionsOpen access
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Created on2024-03-19 13:17:11