prikaz prve stranice dokumenta Decentralizirana strategija kooperativnog istraživanja prostora pomoću višerobotskog sustava
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master's thesis
Decentralizirana strategija kooperativnog istraživanja prostora pomoću višerobotskog sustava
Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing, 2018. urn:nbn:hr:168:452413
Batinović, Ana
University of Zagreb
Faculty of Electrical Engineering and Computing

Institutional repository: FER Repository

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Batinović, A. (2018). Decentralizirana strategija kooperativnog istraživanja prostora pomoću višerobotskog sustava (Master's thesis). Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing. Retrieved from https://urn.nsk.hr/urn:nbn:hr:168:452413

Batinović, Ana. "Decentralizirana strategija kooperativnog istraživanja prostora pomoću višerobotskog sustava." Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, 2018. https://urn.nsk.hr/urn:nbn:hr:168:452413

Batinović, Ana. "Decentralizirana strategija kooperativnog istraživanja prostora pomoću višerobotskog sustava." Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, 2018. https://urn.nsk.hr/urn:nbn:hr:168:452413

Batinović, A. (2018). 'Decentralizirana strategija kooperativnog istraživanja prostora pomoću višerobotskog sustava', Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, accessed 06 November 2024, https://urn.nsk.hr/urn:nbn:hr:168:452413

Batinović A. Decentralizirana strategija kooperativnog istraživanja prostora pomoću višerobotskog sustava [Master's thesis]. Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing; 2018 [cited 2024 November 06] Available at: https://urn.nsk.hr/urn:nbn:hr:168:452413

A. Batinović, "Decentralizirana strategija kooperativnog istraživanja prostora pomoću višerobotskog sustava", Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, Zagreb, 2018. Available at: https://urn.nsk.hr/urn:nbn:hr:168:452413

Metadata
TitleDecentralizirana strategija kooperativnog istraživanja prostora pomoću višerobotskog sustava
Title (english)Decentralized Strategy for Cooperative Space Exploration by Using Multi-robot System
AuthorAna Batinović
MentorStjepan Bogdan (mentor)
Committee memberStjepan Bogdan (predsjednik povjerenstva)
Committee memberZdenko Kovačić (član povjerenstva)
Committee memberMatko Orsag (član povjerenstva)
GranterUniversity of Zagreb
Faculty of Electrical Engineering and Computing
Zagreb
Defense date and country2018-07-16, Croatia
Scientific / art field,
discipline and subdiscipline		TECHNICAL SCIENCES
Electrical Engineering
Abstract
U radu je implementirano decentralizirano višerobotsko istraživanje prostora temeljeno na Graph SLAM metodi i brzorastućim slučajnim stablima uz korištenje mobilnih robota Pioneer P3-DX. Algoritam istraživanja prostora uključuje detekciju točaka fronte temeljenu na RRT algoritmu i nadograđenu za Graph SLAM, filtriranje detektiranih točaka i dodjeljivanje ciljnih točaka robotima koristeći decentraliziranu strategiju temeljenu na market modelu koja minimizira vrijeme potrebno za istraživanje prostora. ROS navigacijski slog koristi se za planiranje i praćenje putanje. Eksperimenti su provedeni u simulacijskom okruženju.
Abstract (english)
This paper presents decentralized multi-robot exploration based on Graph SLAM method and rapidly exploring random trees (RRT). The implementation is tested on Pioneer P3-DX mobile robots. The exploration algorithm of an unknown environment includes an RRT-based frontier detector module extended for use with Graph SLAM, the frontier point filter module and the robot task allocator module which uses an exploration time minimization market-based strategy. The ROS navigation stack is used for path planning and following. Experiments were conducted in a simulation environment as well as in a real-world setup.
Keywords
Keywords (english)
Languagecroatian
URN:NBNurn:nbn:hr:168:452413
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 on2019-03-13 18:55:18