prikaz prve stranice dokumenta Upravljanje brzinom mobilne platforme vodiča uz ograničenje ubrzanja i izbjegavanje trzaja
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master's thesis
Upravljanje brzinom mobilne platforme vodiča uz ograničenje ubrzanja i izbjegavanje trzaja
Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing, 2019. urn:nbn:hr:168:150735
Kozlik, Filip
University of Zagreb
Faculty of Electrical Engineering and Computing

Institutional repository: FER Repository

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Kozlik, F. (2019). Upravljanje brzinom mobilne platforme vodiča uz ograničenje ubrzanja i izbjegavanje trzaja (Master's thesis). Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing. Retrieved from https://urn.nsk.hr/urn:nbn:hr:168:150735

Kozlik, Filip. "Upravljanje brzinom mobilne platforme vodiča uz ograničenje ubrzanja i izbjegavanje trzaja." Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, 2019. https://urn.nsk.hr/urn:nbn:hr:168:150735

Kozlik, Filip. "Upravljanje brzinom mobilne platforme vodiča uz ograničenje ubrzanja i izbjegavanje trzaja." Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, 2019. https://urn.nsk.hr/urn:nbn:hr:168:150735

Kozlik, F. (2019). 'Upravljanje brzinom mobilne platforme vodiča uz ograničenje ubrzanja i izbjegavanje trzaja', Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, accessed 26 December 2024, https://urn.nsk.hr/urn:nbn:hr:168:150735

Kozlik F. Upravljanje brzinom mobilne platforme vodiča uz ograničenje ubrzanja i izbjegavanje trzaja [Master's thesis]. Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing; 2019 [cited 2024 December 26] Available at: https://urn.nsk.hr/urn:nbn:hr:168:150735

F. Kozlik, "Upravljanje brzinom mobilne platforme vodiča uz ograničenje ubrzanja i izbjegavanje trzaja", Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, Zagreb, 2019. Available at: https://urn.nsk.hr/urn:nbn:hr:168:150735

Metadata
TitleUpravljanje brzinom mobilne platforme vodiča uz ograničenje ubrzanja i izbjegavanje trzaja
Title (english)Speed control of guiding mobile platform under acceleration constraint and jerk avoidance
AuthorFilip Kozlik
MentorZdenko Kovačić (mentor)
Committee memberZdenko Kovačić (predsjednik povjerenstva)
Committee memberStjepan Bogdan (član povjerenstva)
Committee memberDamjan Miklić (član povjerenstva)
GranterUniversity of Zagreb
Faculty of Electrical Engineering and Computing
Zagreb
Defense date and country2019-07-18, Croatia
Scientific / art field,
discipline and subdiscipline		TECHNICAL SCIENCES
Electrical Engineering
Abstract
U ovom diplomskom radu obrađena je tema lokalnog izbjegavanja prepreka s načinima upravljanja brzinom mobilne platforme vodiča uz ograničenje akceleracije i izbjegavanje trzaja. Prilikom izbjegavanja prepreka korištene su Bezierove krivulje. Njihovim korištenjem zadržava se kontinuirana i glatka putanja koju robot s lakoćom prolazi. Za glatko upravljanje robotom bitno je postići trzaj ograničenog iznosa. Ograničenim trzajem krivulja akceleracije postaje kontinuirana, a brzina kontinuirana i glatka krivulja. Diplomski rad testiran je u simulacijskom okruženju i implementiran na stvarnoj mobilnoj platformi.
Abstract (english)
The subject of this master thesis is local obstacle avoidance with speed control of a mobile platform under constrained acceleration and bounded jerk. Obstacle avoidance is implemented using Bezier curves, which enables a continuous and smooth avoidance path. For smooth robot movement, it is important to have bounded jerk. In that case acceleration curve is continuous and velocity is a continuous and smooth curve. Experimental validation was done in simulation environment and implemented on a mobile robot platform.
Keywords
Keywords (english)
Languagecroatian
URN:NBNurn:nbn:hr:168:150735
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 on2020-01-07 19:19:48