prikaz prve stranice dokumenta Detekcija kolizije u stvarnom vremenu i planiranje gibanja robota u kompleksnom radnom okruženju
No public access
master's thesis
Detekcija kolizije u stvarnom vremenu i planiranje gibanja robota u kompleksnom radnom okruženju
Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing, 2020. urn:nbn:hr:168:804109
Juričan, Fran
University of Zagreb
Faculty of Electrical Engineering and Computing

Institutional repository: FER Repository

Cite this document

Juričan, F. (2020). Detekcija kolizije u stvarnom vremenu i planiranje gibanja robota u kompleksnom radnom okruženju (Master's thesis). Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing. Retrieved from https://urn.nsk.hr/urn:nbn:hr:168:804109

Juričan, Fran. "Detekcija kolizije u stvarnom vremenu i planiranje gibanja robota u kompleksnom radnom okruženju." Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, 2020. https://urn.nsk.hr/urn:nbn:hr:168:804109

Juričan, Fran. "Detekcija kolizije u stvarnom vremenu i planiranje gibanja robota u kompleksnom radnom okruženju." Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, 2020. https://urn.nsk.hr/urn:nbn:hr:168:804109

Juričan, F. (2020). 'Detekcija kolizije u stvarnom vremenu i planiranje gibanja robota u kompleksnom radnom okruženju', Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, accessed 22 November 2024, https://urn.nsk.hr/urn:nbn:hr:168:804109

Juričan F. Detekcija kolizije u stvarnom vremenu i planiranje gibanja robota u kompleksnom radnom okruženju [Master's thesis]. Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing; 2020 [cited 2024 November 22] Available at: https://urn.nsk.hr/urn:nbn:hr:168:804109

F. Juričan, "Detekcija kolizije u stvarnom vremenu i planiranje gibanja robota u kompleksnom radnom okruženju", Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, Zagreb, 2020. Available at: https://urn.nsk.hr/urn:nbn:hr:168:804109

Metadata
TitleDetekcija kolizije u stvarnom vremenu i planiranje gibanja robota u kompleksnom radnom okruženju
Title (english)Real-time collision detection and robot trajectory planning in a complex environment
AuthorFran Juričan
MentorZdenko Kovačić (mentor)
Committee memberZdenko Kovačić (predsjednik povjerenstva)
Committee memberMatko Orsag (član povjerenstva)
Committee memberTamara Petrović (član povjerenstva)
GranterUniversity of Zagreb
Faculty of Electrical Engineering and Computing
Zagreb
Defense date and country2020-07-10, Croatia
Scientific / art field,
discipline and subdiscipline		TECHNICAL SCIENCES
Electrical Engineering
Abstract
U ovom diplomskom radu obrađuje se rekonstrukcija dinamičke okoline pomoću 3D kamera, izbjegavanje kolizije robota i okoline u stvarnom vremenu te planiranje gibanja robota za obavljanje kompleksnih zadataka. Tijekom prve faze izrade diplomskog rada istražene su biblioteke za rad s vokselima i razvijeni su algoritmi za detekciju kolizije u stvarnom vremenu. U idućoj fazi implementirani su algoritmi za izbjegavanje kolizije u dinamičkom okruženju, pri čemu algoritmi razlikuju gibanje koje potencijalno dovodi do kolizije, od potpuno sigurnog gibanja bez kolizije. Posebna pažnja posvećena je na detekciji prisutnosti čovjeka u radnom okruženju robota. U zadnjoj fazi diplomskog rada razvijen je algoritam za planiranje i izvođenje gibanja robota za zadatke skeniranja. Razvijeni algoritmi ispitatni su u simulacijskom okruženju te na stvarnom robotskom sustavu.
Abstract (english)
This thesis deals with the reconstruction of a dynamic environment using 3D cameras, avoiding the collision of robot and the environment in real time and planning the movement of robot for complex tasks. During the first phase of the thesis, libraries for working with voxels were researched and algorithms for real-time collision detection were developed. In the next stage collision avoidance algorithms were implemented, where the algorithms distinguish motion that potentially leads to collision from completely safe motion without collision. Special attention was paid to the detection of human presence in the robot work environment. In the last phase of this thesis, an algorithm for planning and performing robot motion for scanning tasks was developed. The developed algorithms were tested in a simulation environment and on a real robotic system.
Keywords
Keywords (english)
Languagecroatian
URN:NBNurn:nbn:hr:168:804109
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
Access conditionsClosed access
Terms of useLicence In copyright icon
Public note
Created on2023-01-13 12:35:12