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doctoral thesis
Planiranje gibanja autonomnih mobilnih robota u dinamičkim i nepoznatim unutarnjim prostorima
Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing, 2010. urn:nbn:hr:168:772080
Đakulović, Marija
University of Zagreb
Faculty of Electrical Engineering and Computing

Institutional repository: FER Repository

Cite this document

Đakulović, M. (2010). Planiranje gibanja autonomnih mobilnih robota u dinamičkim i nepoznatim unutarnjim prostorima (Doctoral thesis). Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing. Retrieved from https://urn.nsk.hr/urn:nbn:hr:168:772080

Đakulović, Marija. "Planiranje gibanja autonomnih mobilnih robota u dinamičkim i nepoznatim unutarnjim prostorima." Doctoral thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, 2010. https://urn.nsk.hr/urn:nbn:hr:168:772080

Đakulović, Marija. "Planiranje gibanja autonomnih mobilnih robota u dinamičkim i nepoznatim unutarnjim prostorima." Doctoral thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, 2010. https://urn.nsk.hr/urn:nbn:hr:168:772080

Đakulović, M. (2010). 'Planiranje gibanja autonomnih mobilnih robota u dinamičkim i nepoznatim unutarnjim prostorima', Doctoral thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, accessed 22 November 2024, https://urn.nsk.hr/urn:nbn:hr:168:772080

Đakulović M. Planiranje gibanja autonomnih mobilnih robota u dinamičkim i nepoznatim unutarnjim prostorima [Doctoral thesis]. Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing; 2010 [cited 2024 November 22] Available at: https://urn.nsk.hr/urn:nbn:hr:168:772080

M. Đakulović, "Planiranje gibanja autonomnih mobilnih robota u dinamičkim i nepoznatim unutarnjim prostorima", Doctoral thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, Zagreb, 2010. Available at: https://urn.nsk.hr/urn:nbn:hr:168:772080

Metadata
TitlePlaniranje gibanja autonomnih mobilnih robota u dinamičkim i nepoznatim unutarnjim prostorima
Title (english)Motion planning of autonomous mobile robots in dynamic and unknown indoor environments
AuthorMarija Đakulović
MBZ: 267666
MentorIvan Petrović (mentor)
Committee memberMato Baotić (predsjednik povjerenstva)
Committee memberRobert Manger (član povjerenstva)
Committee memberNedjeljko Perić (član povjerenstva)
GranterUniversity of Zagreb
Faculty of Electrical Engineering and Computing
Zagreb
Defense date and country2010-05-28, Croatia
Scientific / art field,
discipline and subdiscipline		TECHNICAL SCIENCES
Computing
Universal decimal classification
(UDC)		004 - Computer science and technology. Computing. Data processing
Abstract
U ovom je radu istražen problem planiranja gibanja autonomnih mobilnih robota u dinamičkim i nepoznatim unutarnjim prostorima s posebnim naglaskom na algoritme prikladne za rad u stvarnom vremenu koji osiguravaju učinkovito gibanje robota uz zajamčeno izbjegavanje gibajućih prepreka u prostoru. Razvijen je algoritam planiranja geometrijske putanje zasnovan na mrežastoj karti zauzeća koji izračunava najkraću putanju u geometrijskom prostoru. Razvijen je algoritam izgradnje hijerarhijske karte prostora te algoritam hijerarhijskog planiranja putanje čime je osigurano planiranje gibanja mobilnog robota u stvarnom vremenu u velikim unutarnjim prostorima. Problem planiranja gibanja mobilnog robota u nepoznatim prostorima riješen je razvijenim algoritmom istraživanja prostora kojime je postignuta konvergencija algoritma istraživanja u realnim uvjetima. Opisane su metode slijeđenja isplanirane putanje, zasnovane na algoritmu dinamičkog prozora, koje proračunavaju moguće trajektorije s obzirom na kinematička i dinamička ograničenja robota. Uveden je kriterij objedinjavanja algoritma planiranja putanje i algoritma dinamičkog prozora. Razvijenim objedinjenim algoritmom planiranja gibanja osigurano je sigurno i glatko gibanje bez zastoja među statičkim i gibajućim preprekama. Naposlijetku, razvijen je algoritam planiranja gibanja zasnovan na konceptu pomičnog horizonta, za koji je dokazana asimptotska stabilnost ciljne točke korištenjem Ljapunovljeve analize stabilnosti. Svi su predloženi algoritmi testirani simulacijski i eksperimentalno na stvarnom robotu.
Abstract (english)
This thesis focuses on the problem of path planning for autonomous mobile robots in dynamic and unknown indoor environment. Special emphasis is set on algorithms suitable for real-time applications which should ensure the efficient movement of a robot with guaranteed moving obstacles avoidance in the environment. A path planning algorithm based on the grid map that calculates the shortest path in the geometric space is proposed. An algorithm of automatic creation of the hierarchical graph is proposed together with the hierarchical path planning algorithm suitable for mobile robot's motion in real-time in a complex indoor environment. The problem of motion planning of mobile robot in unknown environment is solved by the proposed exploration algorithm, by which convergence of the exploration task in real terms is achieved. The path following methods based on dynamic window approach are considered, which take into account kinematic and dynamic constraints of the robot. The criterion for integration of the path planning algorithm and the dynamic window algorithm is introduced. The integrated motion planning algorithm is proposed which ensures a safe and smooth motion among moving obstacles. Finally, the motion planning algorithm based on the concept of receding horizon control is proposed, for which asymptotic stability of the goal point is proven via Lyapunov stability analysis. All proposed algorithms are tested by simulation and experimentally on a real robot in laboratory environments.
Keywords
Keywords (english)
Languagecroatian
URN:NBNurn:nbn:hr:168:772080
Promotion2010
Study programmeTitle: Computer Science
Study programme type: university
Study level: postgraduate
Academic / professional title: Doktor znanosti (Doktor znanosti)
Type of resourceText
Extent203 str. : graf. prikazi
File originBorn digital
Access conditionsOpen access
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Created on2024-03-20 13:07:13