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master's thesis
Implementacija algoritama za slijeđenje putanje na mobilnom robotu Pioneer
Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing, 2018. urn:nbn:hr:168:521836
Karaman, Luka
University of Zagreb
Faculty of Electrical Engineering and Computing

Institutional repository: FER Repository

Cite this document

Karaman, L. (2018). Implementacija algoritama za slijeđenje putanje na mobilnom robotu Pioneer (Master's thesis). Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing. Retrieved from https://urn.nsk.hr/urn:nbn:hr:168:521836

Karaman, Luka. "Implementacija algoritama za slijeđenje putanje na mobilnom robotu Pioneer." Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, 2018. https://urn.nsk.hr/urn:nbn:hr:168:521836

Karaman, Luka. "Implementacija algoritama za slijeđenje putanje na mobilnom robotu Pioneer." Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, 2018. https://urn.nsk.hr/urn:nbn:hr:168:521836

Karaman, L. (2018). 'Implementacija algoritama za slijeđenje putanje na mobilnom robotu Pioneer', Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, accessed 22 November 2024, https://urn.nsk.hr/urn:nbn:hr:168:521836

Karaman L. Implementacija algoritama za slijeđenje putanje na mobilnom robotu Pioneer [Master's thesis]. Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing; 2018 [cited 2024 November 22] Available at: https://urn.nsk.hr/urn:nbn:hr:168:521836

L. Karaman, "Implementacija algoritama za slijeđenje putanje na mobilnom robotu Pioneer", Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, Zagreb, 2018. Available at: https://urn.nsk.hr/urn:nbn:hr:168:521836

Metadata
TitleImplementacija algoritama za slijeđenje putanje na mobilnom robotu Pioneer
Title (english)Implementation of Path Following Algorithms on Mobile Robot Pioneer
AuthorLuka Karaman
MentorZdenko Kovačić (mentor)
Committee memberZdenko Kovačić (predsjednik povjerenstva)
Committee memberStjepan Bogdan (član povjerenstva)
Committee memberMatko Orsag (član povjerenstva)
GranterUniversity of Zagreb
Faculty of Electrical Engineering and Computing
Zagreb
Defense date and country2018-07-17, Croatia
Scientific / art field,
discipline and subdiscipline		TECHNICAL SCIENCES
Electrical Engineering
Abstract
U ovom radu proučen je GVF (Guiding Vector-Field) algoritam za slijeđenje putanje pomoću usmjeravajućeg vektorskog polja primijenjen na neholonomnog mobilnog robota. Opisana je teorijska podloga za razumijevanje algoritma pratećeg vektorskog polja. Posebno se obratila pozornost na problem pretvaranja skupa točaka u funkciju dvije varijable implicitnog oblika kako bi se algoritam iskoristio u kombinaciji s modulom za planiranje putanje. Simulacijama u programskom paketu MATLAB pokazano je ponašanje algoritma vodećeg vektorskog polja na jednostavnoj mapi s preprekama i različitim načinima izvoda funkcije slijeđenja. U posljednjem dijelu se eksperimentalno provodi usporedba algoritma čistog slijeđenja i algoritma vodećeg vektorskog polja na mobilnom robotu i prostoru bez prepreka.
Abstract (english)
In this thesis GVF (Guiding Vector-Field) path following algorithm using guiding vector fields has been studied and applied to a nonholonomic mobile robot. Theoretical background for understanding the algorithm of the guiding vector field is described. The problem of transforming a set of points into the implicit form function of two variables is emphasized, as it is intended to apply this alghorithm with the path planning module. Using MATLAB simulations, behaviour of the Guiding Field Algorithm on a simple map with obstacles and different path-following functions is shown. In the final chapter an experimental comparision is made between the pure pursuit algorithm and guiding vector field algorithm on a mobile robot and space without obstacles.
Keywords
Keywords (english)
Languagecroatian
URN:NBNurn:nbn:hr:168:521836
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 21:26:14