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master's thesis
Planiranje gibanja mobilnih robota primjenom konfiguracijske rešetke
Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing, 2014. urn:nbn:hr:168:738722
Martinović, Ilija
University of Zagreb
Faculty of Electrical Engineering and Computing

Institutional repository: FER Repository

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Martinović, I. (2014). Planiranje gibanja mobilnih robota primjenom konfiguracijske rešetke (Master's thesis). Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing. Retrieved from https://urn.nsk.hr/urn:nbn:hr:168:738722

Martinović, Ilija. "Planiranje gibanja mobilnih robota primjenom konfiguracijske rešetke." Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, 2014. https://urn.nsk.hr/urn:nbn:hr:168:738722

Martinović, Ilija. "Planiranje gibanja mobilnih robota primjenom konfiguracijske rešetke." Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, 2014. https://urn.nsk.hr/urn:nbn:hr:168:738722

Martinović, I. (2014). 'Planiranje gibanja mobilnih robota primjenom konfiguracijske rešetke', Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, accessed 25 November 2024, https://urn.nsk.hr/urn:nbn:hr:168:738722

Martinović I. Planiranje gibanja mobilnih robota primjenom konfiguracijske rešetke [Master's thesis]. Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing; 2014 [cited 2024 November 25] Available at: https://urn.nsk.hr/urn:nbn:hr:168:738722

I. Martinović, "Planiranje gibanja mobilnih robota primjenom konfiguracijske rešetke", Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, Zagreb, 2014. Available at: https://urn.nsk.hr/urn:nbn:hr:168:738722

Metadata
TitlePlaniranje gibanja mobilnih robota primjenom konfiguracijske rešetke
Title (english)Lattice based motion planning of mobile robots
AuthorIlija Martinović
MentorIvan Petrović (mentor)
Committee memberIvan Petrović (predsjednik povjerenstva)
Committee memberJadranko Matuško (član povjerenstva)
Committee memberMarija Seder (član povjerenstva)
GranterUniversity of Zagreb
Faculty of Electrical Engineering and Computing
Zagreb
Defense date and country2014-07-09, Croatia
Scientific / art field,
discipline and subdiscipline		TECHNICAL SCIENCES
Electrical Engineering
Abstract
U ovom radu je istraživan algoritam planiranja gibanja pogodan za mobilne robote s holonomskim ograničenjima i mobilne robote koji nisu kružnog oblika. Objašnjen je detaljno glavni dio algoritma tj. motion primitives. Taj algoritam, tj. Lattice Planner je implementiran te je objašnjen svaki korak implementacije. Objašnjeno također je kako mijenjati parametre. Na kraju su se vršila testiranja odnosno simulacije kako bi se testirao algoritam, te se usporedio s već postojećim i provjerenim algoritmom da bi se usporedili rezultati. Testiranja su se vršila u ROS fuerteu.
Abstract (english)
The paper focuses on research of Lattice Planner algorithm suitable for mobile robots with holonomic restrictions and mobile robots that do not have circular shape. It was minutely explained the main part of the algorithm, the motion primitives. Lattice Planner was implemented and each step of the implementation was explained. Also, it was explained how to change the parameter of the planner. In the end the algorithmus was tested, simulated, and compared with existing and proven algorithmus to compare the results. Tests were carried out in ROS fuerte.
Keywords
Keywords (english)
Languagecroatian
URN:NBNurn:nbn:hr:168:738722
Study programmeTitle: Electrical Engineering and Information Technology
Study programme type: university
Study level: graduate
Academic / professional title: magistar/magistra inženjer/inženjerka elektrotehnike i informacijske tehnologije (magistar/magistra inženjer/inženjerka elektrotehnike i informacijske tehnologije)
Type of resourceText
File originBorn digital
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Created on2018-02-06 10:30:06