prikaz prve stranice dokumenta Automatska detekcija područja smanjene mogućnosti kretanja svesmjerne platforme Andymark
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undergraduate thesis
Automatska detekcija područja smanjene mogućnosti kretanja svesmjerne platforme Andymark
Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing, 2018. urn:nbn:hr:168:337617
Mustapić, Nives
University of Zagreb
Faculty of Electrical Engineering and Computing

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Mustapić, N. (2018). Automatska detekcija područja smanjene mogućnosti kretanja svesmjerne platforme Andymark (Undergraduate thesis). Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing. Retrieved from https://urn.nsk.hr/urn:nbn:hr:168:337617

Mustapić, Nives. "Automatska detekcija područja smanjene mogućnosti kretanja svesmjerne platforme Andymark." Undergraduate thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, 2018. https://urn.nsk.hr/urn:nbn:hr:168:337617

Mustapić, Nives. "Automatska detekcija područja smanjene mogućnosti kretanja svesmjerne platforme Andymark." Undergraduate thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, 2018. https://urn.nsk.hr/urn:nbn:hr:168:337617

Mustapić, N. (2018). 'Automatska detekcija područja smanjene mogućnosti kretanja svesmjerne platforme Andymark', Undergraduate thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, accessed 09 August 2024, https://urn.nsk.hr/urn:nbn:hr:168:337617

Mustapić N. Automatska detekcija područja smanjene mogućnosti kretanja svesmjerne platforme Andymark [Undergraduate thesis]. Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing; 2018 [cited 2024 August 09] Available at: https://urn.nsk.hr/urn:nbn:hr:168:337617

N. Mustapić, "Automatska detekcija područja smanjene mogućnosti kretanja svesmjerne platforme Andymark", Undergraduate thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, Zagreb, 2018. Available at: https://urn.nsk.hr/urn:nbn:hr:168:337617

Metadata
TitleAutomatska detekcija područja smanjene mogućnosti kretanja svesmjerne platforme Andymark
Title (english)Automatic detection of decreased motion ability area for Andymark omnidirectional robotic platform
AuthorNives Mustapić
MentorMarija Seder (mentor)
Committee memberMarija Seder (predsjednik povjerenstva)
Committee memberLuka Petrović (član povjerenstva)
Committee memberGoran Popović (član povjerenstva)
GranterUniversity of Zagreb
Faculty of Electrical Engineering and Computing
Zagreb
Defense date and country2018-09-19, Croatia
Scientific / art field,
discipline and subdiscipline		TECHNICAL SCIENCES
Electrical Engineering
Abstract
Mobilna platforma proizvođača Andymark ima nosivost do 100kg što joj omogućuje razne primjene. Mobilna platforma uspostavlja vezu sa računalom serijskom vezom, a njome se može upravljati bežičnom tipkovnicom. U ovom radu na platformu je povezan laserski senzor udaljenosti čiji se podaci koriste za izradu mape prostora pomoću hector_slam paketa iz ROS-a. Napravljen je dodatni paket koji na izgrađenoj mapi označava prepreke te mjesta oko prepreka na kojima je platformi ograničeno gibanje s obzirom na njene dimenzije. Omogućena je dinamička izrada mape dok se platforma kreće te se u stvarnom vremenu označavaju prepreke i mjesta ograničenog gibanja različitim bojama markera.
Abstract (english)
Mobile platform Andymark has four sweedish wheels for omnidirectional movement and a laser range sensor for obstacle detection. The map of the environment is built using the laser range sensor onboard the mobile platform. Critical areas are detected by the proposed algorithm of finding narrow passages from the built map according to the circumscribed circle around the robot's footprint and the inscribed circle inside the robot's footprint. In these areas the robot has decreased or no maneuverability at all. Dynamic narrow passage detection is also assured from the currently built map while the robot is driving.
Keywords
Keywords (english)
Languagecroatian
URN:NBNurn:nbn:hr:168:337617
Study programmeTitle: Electrical Engineering and Information Technology
Study programme type: university
Study level: undergraduate
Academic / professional title: sveučilišni/a prvostupnik/ prvostupnica (baccalaureus/baccalaurea) inženjer/inženjerka elektrotehnike i informacijske tehnologije (sveučilišni/a prvostupnik/ prvostupnica (baccalaureus/baccalaurea) inženjer/inženjerka elektrotehnike i informacijske tehnologije)
Type of resourceText
File originBorn digital
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Created on2019-03-13 23:19:44