prikaz prve stranice dokumenta Algoritmi za istodobnu lokalizaciju i kartiranje nepoznatih prostora
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undergraduate thesis
Algoritmi za istodobnu lokalizaciju i kartiranje nepoznatih prostora
Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing, 2021. urn:nbn:hr:168:421927
Dukić Hrvoić, Juraj
University of Zagreb
Faculty of Electrical Engineering and Computing

Institutional repository: FER Repository

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Dukić Hrvoić, J. (2021). Algoritmi za istodobnu lokalizaciju i kartiranje nepoznatih prostora (Undergraduate thesis). Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing. Retrieved from https://urn.nsk.hr/urn:nbn:hr:168:421927

Dukić Hrvoić, Juraj. "Algoritmi za istodobnu lokalizaciju i kartiranje nepoznatih prostora." Undergraduate thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, 2021. https://urn.nsk.hr/urn:nbn:hr:168:421927

Dukić Hrvoić, Juraj. "Algoritmi za istodobnu lokalizaciju i kartiranje nepoznatih prostora." Undergraduate thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, 2021. https://urn.nsk.hr/urn:nbn:hr:168:421927

Dukić Hrvoić, J. (2021). 'Algoritmi za istodobnu lokalizaciju i kartiranje nepoznatih prostora', Undergraduate thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, accessed 26 November 2024, https://urn.nsk.hr/urn:nbn:hr:168:421927

Dukić Hrvoić J. Algoritmi za istodobnu lokalizaciju i kartiranje nepoznatih prostora [Undergraduate thesis]. Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing; 2021 [cited 2024 November 26] Available at: https://urn.nsk.hr/urn:nbn:hr:168:421927

J. Dukić Hrvoić, "Algoritmi za istodobnu lokalizaciju i kartiranje nepoznatih prostora", Undergraduate thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, Zagreb, 2021. Available at: https://urn.nsk.hr/urn:nbn:hr:168:421927

Metadata
TitleAlgoritmi za istodobnu lokalizaciju i kartiranje nepoznatih prostora
Title (english)Simultaneous Localization and Mapping
AuthorJuraj Dukić Hrvoić
MentorVladimir Čeperić (mentor)
Committee memberVladimir Čeperić (predsjednik povjerenstva)
Committee memberIvan Grubišić (član povjerenstva)
Committee memberJosip Renić (član povjerenstva)
GranterUniversity of Zagreb
Faculty of Electrical Engineering and Computing
Zagreb
Defense date and country2021-09-06, Croatia
Scientific / art field,
discipline and subdiscipline		TECHNICAL SCIENCES
Electrical Engineering
Abstract
Algoritmi za istodobnu lokalizaciju i kartiranje nepoznatih prostora rad je u kojem se iznose povijesne činjenice o pojavi i potrebi za rješavanjem problema SLAM-a, opisuju osnove i razvoj problematike navedenih algoritama te najpopularnija ponuđena rješenja istih. Prikazuje se implementacija SLAM algoritma na robota u svrhu snalaženja u nepoznatom prostoru uz korištenje Kalmanovog filtra, analiziraju se utjecaji promjene parametara iz okoline na konačni rezultat te se, naposljetku, komentiraju prednosti i nedostaci EKF-SLAM-a. Opisani su koraci lokalizacije i mapiranja pomoću Kalmanova filtra. Zaključuje se da s većim brojem orijentira, kraćim vremenom uzorkovanja te većim rasponom senzora sustav preciznije prati svoj položaj i gibanje u prostoru.
Abstract (english)
Algorithms for simultaneous localization and mapping of unknown spaces is a paper in which the historical facts about the emergence and the urge to solve the problem of SLAM. The paper describes the basics and development of the problems of these algorithms as well as the most popular solutions. The implementation of the SLAM algorithm on an agent for the purpose of navigating an unknown space using a Kalman filter is presented. The effects of changes in environmental parameters on the final result have been analyzed. Finally, the advantages and disadvantages of EKF-SLAM were stated. Also, the localization and mapping steps using Kalman filters are described. It is concluded that with a larger number of landmarks, shorter sampling time and a larger range of sensors, the agent can localize itself and monitor its movement in the environment more accurately.
Keywords
Keywords (english)
Languagecroatian
URN:NBNurn:nbn:hr:168:421927
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 on2023-01-13 12:09:38