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master's thesis
Planiranje gibanja mobilnog robota u strukturiranom stakleniku
Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing, 2020. urn:nbn:hr:168:188703
Bradarić, Filip
University of Zagreb
Faculty of Electrical Engineering and Computing

Institutional repository: FER Repository

Cite this document

Bradarić, F. (2020). Planiranje gibanja mobilnog robota u strukturiranom stakleniku (Master's thesis). Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing. Retrieved from https://urn.nsk.hr/urn:nbn:hr:168:188703

Bradarić, Filip. "Planiranje gibanja mobilnog robota u strukturiranom stakleniku." Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, 2020. https://urn.nsk.hr/urn:nbn:hr:168:188703

Bradarić, Filip. "Planiranje gibanja mobilnog robota u strukturiranom stakleniku." Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, 2020. https://urn.nsk.hr/urn:nbn:hr:168:188703

Bradarić, F. (2020). 'Planiranje gibanja mobilnog robota u strukturiranom stakleniku', Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, accessed 02 November 2024, https://urn.nsk.hr/urn:nbn:hr:168:188703

Bradarić F. Planiranje gibanja mobilnog robota u strukturiranom stakleniku [Master's thesis]. Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing; 2020 [cited 2024 November 02] Available at: https://urn.nsk.hr/urn:nbn:hr:168:188703

F. Bradarić, "Planiranje gibanja mobilnog robota u strukturiranom stakleniku", Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, Zagreb, 2020. Available at: https://urn.nsk.hr/urn:nbn:hr:168:188703

Metadata
TitlePlaniranje gibanja mobilnog robota u strukturiranom stakleniku
Title (english)Motion planning for a mobile robot in a structured greenhouse
AuthorFilip Bradarić
MentorMatko Orsag (mentor)
Committee memberMatko Orsag (predsjednik povjerenstva)
Committee memberZdenko Kovačić (član povjerenstva)
Committee memberDamjan Miklić (član povjerenstva)
GranterUniversity of Zagreb
Faculty of Electrical Engineering and Computing
Zagreb
Defense date and country2020-07-16, Croatia
Scientific / art field,
discipline and subdiscipline		TECHNICAL SCIENCES
Electrical Engineering
Abstract
U ovom diplomskom radu opisan je postupak optimizacije prostora automatiziranog staklenika i izgradnje mreže putanja za navigaciju mobilnog robota. U diskretiziranom prostoru staklenika potrebno je rasporediti različite kulture biljaka na optimalne pozicije pri čemu je potrebno zadovoljiti ograničenja broja i dostupnosti biljaka te povezanosti slobodnog prostora. Za optimizaciju prostora staklenika osmišljen je genetski algoritam. U optimiziranom prostoru primijenjen je algoritam automatske izgradnje mreže putanja. Valjanost i složenost algoritama analizirane su eksperimentalno. Eksperimentom provedenim u realističnom simulacijskom okruženju potvrđena je prilagođenost optimiziranog rasporeda staklenika za navigaciju mobilnog robota.
Abstract (english)
This thesis describes a procedure for optimizing an autonomous greenhouse layout and generating a feasible roadmap for robot navigation. In a discretized greenhouse layout, it is necessary to place different plant cultures at optimal positions, simultaneously satisfying plant number and accessibility constraints as well as preserving free space connectivity. A genetic algorithm for greenhouse layout optimization is described. An algorithm of automatic roadmap generation is developed and applied to the optimized greenhouse layout. The validity and complexity of the algorithms are analyzed experimentally. An experiment performed in a realistic 3D simulator demonstrates that a differential drive mobile robot is able to localize itself and navigate in the optimized greenhouse layout.
Keywords
Keywords (english)
Languagecroatian
URN:NBNurn:nbn:hr:168:188703
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 on2023-01-13 09:48:20