prikaz prve stranice dokumenta Koordinirano planiranje gibanja i upravljanje mobilnim robotima za zajednički prijevoz velikog tereta
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master's thesis
Koordinirano planiranje gibanja i upravljanje mobilnim robotima za zajednički prijevoz velikog tereta
Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing, 2024. urn:nbn:hr:168:711842
Paro, Borna
University of Zagreb
Faculty of Electrical Engineering and Computing

Institutional repository: FER Repository

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Paro, B. (2024). Koordinirano planiranje gibanja i upravljanje mobilnim robotima za zajednički prijevoz velikog tereta (Master's thesis). Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing. Retrieved from https://urn.nsk.hr/urn:nbn:hr:168:711842

Paro, Borna. "Koordinirano planiranje gibanja i upravljanje mobilnim robotima za zajednički prijevoz velikog tereta." Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, 2024. https://urn.nsk.hr/urn:nbn:hr:168:711842

Paro, Borna. "Koordinirano planiranje gibanja i upravljanje mobilnim robotima za zajednički prijevoz velikog tereta." Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, 2024. https://urn.nsk.hr/urn:nbn:hr:168:711842

Paro, B. (2024). 'Koordinirano planiranje gibanja i upravljanje mobilnim robotima za zajednički prijevoz velikog tereta', Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, accessed 27 December 2024, https://urn.nsk.hr/urn:nbn:hr:168:711842

Paro B. Koordinirano planiranje gibanja i upravljanje mobilnim robotima za zajednički prijevoz velikog tereta [Master's thesis]. Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing; 2024 [cited 2024 December 27] Available at: https://urn.nsk.hr/urn:nbn:hr:168:711842

B. Paro, "Koordinirano planiranje gibanja i upravljanje mobilnim robotima za zajednički prijevoz velikog tereta", Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, Zagreb, 2024. Available at: https://urn.nsk.hr/urn:nbn:hr:168:711842

Metadata
TitleKoordinirano planiranje gibanja i upravljanje mobilnim robotima za zajednički prijevoz velikog tereta
Title (english)Coordinated motion planning and control of mobile robots for joint transportation of large objects
AuthorBorna Paro
MentorIvan Marković (mentor)
Committee memberIvan Marković (član povjerenstva)
Committee memberIvan Petrović (član povjerenstva)
Committee memberLuka Petrović (član povjerenstva)
GranterUniversity of Zagreb
Faculty of Electrical Engineering and Computing
Zagreb
Defense date and country2024-07-10, Croatia
Abstract
U ovom radu prikazana je metoda za koordinirano planiranje gibanja i upravljanje dvoje autonomnih mobilnih robota za zajednički transport tereta koji je prevelik za jednog robota. Metoda je implementirana unutar okruženja Robot Operating System (ROS) i testirana u scenarijima simulacije i stvarnog svijeta. Metoda se sastoji od dva robota koji imaju veliki teret na sebi gdje zajedno tvore novi kinematički lanac. Zatim, optimalni put je izračunat za cijeli kinematički lanac diferencijalnog pogona koji osigurava prijevoz tereta do željenog cilja bez sudara s preprekama. Nakon toga, implementirani algoritam šalje upravljačke naredbe svakom robotu zasebno, čime se postiže koordinirano izvođenje planiranog puta. Predloženi pristup može biti primijenjen u područjima kao što su logistika i industrijska robotika, pridonoseći optimizaciji procesa prijenosa tereta i poboljšanje učinkovitosti autonomnih robota u radnim okruženjima.
Abstract (english)
In this thesis a method is presented for coordinated motion planning and control of two autonomous mobile robots for the joint transport of cargo that is too large for one robot. The method was implemented within the Robot Operating System (ROS) environment and validated in simulation and real world scenarios. The method consists of two robots having large cargo on top of them where they together form a new kinematic chain. Then, the optimal path is planned for the entire differential drive kinematic chain that ensures the transport of the cargo to the desired target location collision free. After that, the implemented algorithm sends control commands to each robot separately, which achieves the coordinated execution of the planned path. The proposed approach can be widely applied in areas such as logistics and industrial robotics, contributing to the optimization of the load transfer process and improving the efficiency of autonomous robots in work environments.
Keywords
Keywords (english)
Languageenglish
URN:NBNurn:nbn:hr:168:711842
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 on2024-10-12 21:46:01