prikaz prve stranice dokumenta Prilagodba Stanley algoritma za korištenje u okviru ROS navigacijskog paketa
No public access
undergraduate thesis
Prilagodba Stanley algoritma za korištenje u okviru ROS navigacijskog paketa
Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing, 2017. urn:nbn:hr:168:294010
Radoš, Branko
University of Zagreb
Faculty of Electrical Engineering and Computing

Institutional repository: FER Repository

Cite this document

Radoš, B. (2017). Prilagodba Stanley algoritma za korištenje u okviru ROS navigacijskog paketa (Undergraduate thesis). Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing. Retrieved from https://urn.nsk.hr/urn:nbn:hr:168:294010

Radoš, Branko. "Prilagodba Stanley algoritma za korištenje u okviru ROS navigacijskog paketa." Undergraduate thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, 2017. https://urn.nsk.hr/urn:nbn:hr:168:294010

Radoš, Branko. "Prilagodba Stanley algoritma za korištenje u okviru ROS navigacijskog paketa." Undergraduate thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, 2017. https://urn.nsk.hr/urn:nbn:hr:168:294010

Radoš, B. (2017). 'Prilagodba Stanley algoritma za korištenje u okviru ROS navigacijskog paketa', Undergraduate thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, accessed 04 November 2024, https://urn.nsk.hr/urn:nbn:hr:168:294010

Radoš B. Prilagodba Stanley algoritma za korištenje u okviru ROS navigacijskog paketa [Undergraduate thesis]. Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing; 2017 [cited 2024 November 04] Available at: https://urn.nsk.hr/urn:nbn:hr:168:294010

B. Radoš, "Prilagodba Stanley algoritma za korištenje u okviru ROS navigacijskog paketa", Undergraduate thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, Zagreb, 2017. Available at: https://urn.nsk.hr/urn:nbn:hr:168:294010

Metadata
TitlePrilagodba Stanley algoritma za korištenje u okviru ROS navigacijskog paketa
Title (english)Adjustment of Stanley algorithm for usage within ROS navigation package
AuthorBranko Radoš
MentorStjepan Bogdan (mentor)
Committee memberStjepan Bogdan (predsjednik povjerenstva)
Committee memberGoran Vasiljević (član povjerenstva)
Committee memberJuraj Oršulić (član povjerenstva)
GranterUniversity of Zagreb
Faculty of Electrical Engineering and Computing
Zagreb
Defense date and country2017-07-10, Croatia
Scientific / art field,
discipline and subdiscipline		TECHNICAL SCIENCES
Electrical Engineering
Abstract
Stanlijeva metoda je metoda slijeđenja putanje namijenjena autonomnim vozilima. Svoju publicitet dobiva pobjedom Stanley automobila na DARPA Grand Challenge-u 2005. Metoda se ističe svojom jednostavnošću, uz visoku kvalitetu i pouzdanost slijeđenja. Problem završnog rada opisuje implementaciju Stanley algoritma za diferencijalna vozila, korišten kao lokalni planer u ROS navigation paketu. Implementacija je potkrijepljena bezinercijskim modelom u STDR simulatoru kao i inercijskim u GAZEBO-u. Iscrpnim simulacijama određeni su parametri koji postižu optimalnu razinu slijeđenja. Na koncu simulacijski rezultati su ispitani na pioneer P3-DX diferencijalnom vozilu.
Abstract (english)
The Stanley method is an path tracking method for autonomous vehicles. It was made popular by the Stanley vehicle which won the DARPA Grand Challenge in 2005. It stands out with its simplicity, yet provides very high accuracy and reliability. This thesis describes an implementation of the Stanley algorithm for a diferential drive vehicle, to be used as a "local planner" in the ROS Navigation Stack. The implementation has been verified by simulation in the simplified STDR simulator as well as in Gazebo, a 3D simulator which models physical interactions. Algorithm parameters yielding optimal tracking performance have been determined by extensive simulations. Finally, the implementation has also been evaluated on the pioneer P3-DX diferential drive robot.
Keywords
Keywords (english)
Languagecroatian
URN:NBNurn:nbn:hr:168:294010
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
Access conditionsClosed access
Terms of useLicence In copyright icon
Public note
Created on2019-03-19 19:05:06