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doctoral thesis
Sinteza trajektorije autonomnog pokretnog objekta oponašanjem operatera
Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing, 2004. urn:nbn:hr:168:416484
Kulić, Ranka
University of Zagreb
Faculty of Electrical Engineering and Computing
Department of Control and Computer Engineering

Institutional repository: FER Repository

Cite this document

Kulić, R. (2004). Sinteza trajektorije autonomnog pokretnog objekta oponašanjem operatera (Doctoral thesis). Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing. Retrieved from https://urn.nsk.hr/urn:nbn:hr:168:416484

Kulić, Ranka. "Sinteza trajektorije autonomnog pokretnog objekta oponašanjem operatera." Doctoral thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, 2004. https://urn.nsk.hr/urn:nbn:hr:168:416484

Kulić, Ranka. "Sinteza trajektorije autonomnog pokretnog objekta oponašanjem operatera." Doctoral thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, 2004. https://urn.nsk.hr/urn:nbn:hr:168:416484

Kulić, R. (2004). 'Sinteza trajektorije autonomnog pokretnog objekta oponašanjem operatera', Doctoral thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, accessed 17 November 2024, https://urn.nsk.hr/urn:nbn:hr:168:416484

Kulić R. Sinteza trajektorije autonomnog pokretnog objekta oponašanjem operatera [Doctoral thesis]. Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing; 2004 [cited 2024 November 17] Available at: https://urn.nsk.hr/urn:nbn:hr:168:416484

R. Kulić, "Sinteza trajektorije autonomnog pokretnog objekta oponašanjem operatera", Doctoral thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, Zagreb, 2004. Available at: https://urn.nsk.hr/urn:nbn:hr:168:416484

Metadata
TitleSinteza trajektorije autonomnog pokretnog objekta oponašanjem operatera
Title (english)Trajectory design for the autonomous moving vehicle by operater Imitation
AuthorRanka Kulić
MentorZoran Vukić (mentor)
Committee memberLjubomir Kuljača (predsjednik povjerenstva)
Committee memberZoran Vukić (član povjerenstva)
Committee memberBranko Novaković (član povjerenstva)
Committee memberNikola Bogunović (član povjerenstva)
Committee memberIvan Petrović (član povjerenstva)
GranterUniversity of Zagreb
Faculty of Electrical Engineering and Computing
(Department of Control and Computer Engineering)
Zagreb
Defense date and country2004, Croatia
Scientific / art field,
discipline and subdiscipline		TECHNICAL SCIENCES
Electrical Engineering
Universal decimal classification
(UDC)		621.3 - Electrical engineering
Abstract
Problem sinteze trajektorije robota koji se kreće u okolini u kojoj se nalaze nepokretne i pokretne prepreke se razmatra. Uopće, u literaturi je taj problem poznat kao problem planiranja trajektorije i kao problem izbjegavanja prepreka. U disertaciji se primjenjuje postupak oponašanja operatera sa ciljem da se projektira kontroler koji će u skladu sa usvojenim kriterijem optimalnosti voditi robot od početne do krajnje pozicije. Kod postupka oponašanja operatera strojni sustav uči na osnovu primjera koji su generirani dok robotom upravlja operater. Temeljem primjera dobijenih dok je robotom upravljao operater izbjegavajući nepokretnu pravokutnu prepreku, u ovom radu je pokazano da je, korištenjem više algoritama učenja, moguće sintetizirati pravila upravljanja, za situaciju sa skoro neograničenim brojem, kako konveksnih tako i konkavnih, i kako nepokretnih tako i pokretnih prepreka u ravnini. Predloženi postupak se pokazao primjenjivim i u 3-D prostoru. To ga suštinski razlikuje od drugih postupaka. Isto tako suštinska razlika predloženog postupka u odnosu na druge jest i u tom što je trajektoriju robota moguće definirati u ¨of – line¨ procesu, kao i što je sintetizirana pravila upravljanja moguće koristiti u ¨¨on – line¨ procesu bez uporabe složenih simboličkih modela okoline, odnosno, prepreka.
Abstract (english)
Dynamic path generation problem of robot in environment with other unmoving and moving objects is considered. Generally, the problem is known in literature as find path or robot motion planning and obstacle avoiding. In this paper it is applied the behavioral cloning approach to design the robot controller. In behavioral cloning, the system learns from control traces of a human operator. Taking in to account the examples which were obtained in training phase, when the robot was controlled by operator to avoid rectangle unmoving obstacle, some acceptable guidance rules were synthesized using different machine learning algorithms. Their importance is extended in order to be applied in some situation with infinite number of different unmoving and moving obstacles. That fact is a good reason for conclusion that an appropriate domain model were found. On the other hand, the exposed method gives results whose application in 3-D space is relatively simple. That fact substantially differs this methodology from the others. Also, the substantially advantage of this approach lies in the fact that a complete path can be defined off-line, without using sophisticated symbolical models of obstacles.
Keywords
Keywords (english)
Languagecroatian
URN:NBNurn:nbn:hr:168:416484
Study programmeTitle: Doctoral study programme "Electrical Engineering and Computing"
Study programme type: university
Study level: postgraduate
Academic / professional title: doktor/doktorica znanosti, po-dručje tehničkih znanosti (doktor/doktorica znanosti, po-dručje tehničkih znanosti)
Type of resourceText
ExtentV, 184 str. ; 30 cm
File originBorn digital
Access conditionsClosed access
Terms of useLicence In copyright icon
Created on2020-03-03 13:14:31