prikaz prve stranice dokumenta Autonomno istraživanje prostora pomoću bespilotne letjelice primjenom algoritma detekcije fronte
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master's thesis
Autonomno istraživanje prostora pomoću bespilotne letjelice primjenom algoritma detekcije fronte
Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing, 2021. urn:nbn:hr:168:414172
Pavić, Lenard
University of Zagreb
Faculty of Electrical Engineering and Computing

Institutional repository: FER Repository

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Pavić, L. (2021). Autonomno istraživanje prostora pomoću bespilotne letjelice primjenom algoritma detekcije fronte (Master's thesis). Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing. Retrieved from https://urn.nsk.hr/urn:nbn:hr:168:414172

Pavić, Lenard. "Autonomno istraživanje prostora pomoću bespilotne letjelice primjenom algoritma detekcije fronte." Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, 2021. https://urn.nsk.hr/urn:nbn:hr:168:414172

Pavić, Lenard. "Autonomno istraživanje prostora pomoću bespilotne letjelice primjenom algoritma detekcije fronte." Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, 2021. https://urn.nsk.hr/urn:nbn:hr:168:414172

Pavić, L. (2021). 'Autonomno istraživanje prostora pomoću bespilotne letjelice primjenom algoritma detekcije fronte', Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, accessed 26 December 2024, https://urn.nsk.hr/urn:nbn:hr:168:414172

Pavić L. Autonomno istraživanje prostora pomoću bespilotne letjelice primjenom algoritma detekcije fronte [Master's thesis]. Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing; 2021 [cited 2024 December 26] Available at: https://urn.nsk.hr/urn:nbn:hr:168:414172

L. Pavić, "Autonomno istraživanje prostora pomoću bespilotne letjelice primjenom algoritma detekcije fronte", Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, Zagreb, 2021. Available at: https://urn.nsk.hr/urn:nbn:hr:168:414172

Metadata
TitleAutonomno istraživanje prostora pomoću bespilotne letjelice primjenom algoritma detekcije fronte
Title (english)Frontier-Based autonomous 3D Exploration with unmanned aerial vehicles
AuthorLenard Pavić
MentorMatko Orsag (mentor)
Committee memberMatko Orsag (predsjednik povjerenstva)
Committee memberZdenko Kovačić (član povjerenstva)
Committee memberGoran Vasiljević (član povjerenstva)
GranterUniversity of Zagreb
Faculty of Electrical Engineering and Computing
Zagreb
Defense date and country2021-07-15, Croatia
Scientific / art field,
discipline and subdiscipline		TECHNICAL SCIENCES
Electrical Engineering
Abstract
Implementirani algoritam 3D detekcije fronte, granice istraženog i neistraženog prostora, testiran je u Gazebo i RViz simulatoru na Kopterworx modelu bespilotne letjelice. Pomoću OctoMap biblioteke vizualizirana je izgrađena karta prostora te se pomoću Graph SLAM metode istovremeno ostvaruje dobivanje karte prostora i lokalizacija letjelice. Provedena je analiza dobivenih rezultata na temelju koje je provedena optimizacija metode odabira ciljne točke. Cilj optimizacije je smanjivanje vremena simulacije, tj. istraživanja prostora, uz uvjet da se ne izgube informacije o prostoru. Uspoređen je optimiziran algoritam s postojećim algoritmom. Eksperiment je proveden na virtualnoj simulaciji te je razmotrena primjena algoritma na stvarnom sustavu.
Abstract (english)
The implemented algorithm for 3D frontier detection, the boundary between the explored and the unexplored space, was tested in the Gazebo simulator. The Octomap library is used to visualize the constructed map of the environment and the Graph SLAM method is used to locate a robot and generate a map of the environment. An analysis of the obtained results was performed, on which the optimization of the selection method of the target point was performed. The goal of the optimization is to reduce the simulation time, the time of environment exploration, under the condition that the information about the environment is not lost. The optimized algorithm is compared with the existing algorithm. The experiment was performed in the Gazebo simulator and the application of the algorithm in a real-world setup was considered.
Keywords
Keywords (english)
Languagecroatian
URN:NBNurn:nbn:hr:168:414172
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 13:25:14