prikaz prve stranice dokumenta Autonomna izgradnja hijerarhije za planiranje putanje mobilnih robota u velikim prostorima
No public access
master's thesis
Autonomna izgradnja hijerarhije za planiranje putanje mobilnih robota u velikim prostorima
Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing, 2021. urn:nbn:hr:168:091967
Gregorić, Jelena
University of Zagreb
Faculty of Electrical Engineering and Computing

Institutional repository: FER Repository

Cite this document

Gregorić, J. (2021). Autonomna izgradnja hijerarhije za planiranje putanje mobilnih robota u velikim prostorima (Master's thesis). Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing. Retrieved from https://urn.nsk.hr/urn:nbn:hr:168:091967

Gregorić, Jelena. "Autonomna izgradnja hijerarhije za planiranje putanje mobilnih robota u velikim prostorima." Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, 2021. https://urn.nsk.hr/urn:nbn:hr:168:091967

Gregorić, Jelena. "Autonomna izgradnja hijerarhije za planiranje putanje mobilnih robota u velikim prostorima." Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, 2021. https://urn.nsk.hr/urn:nbn:hr:168:091967

Gregorić, J. (2021). 'Autonomna izgradnja hijerarhije za planiranje putanje mobilnih robota u velikim prostorima', Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, accessed 27 December 2024, https://urn.nsk.hr/urn:nbn:hr:168:091967

Gregorić J. Autonomna izgradnja hijerarhije za planiranje putanje mobilnih robota u velikim prostorima [Master's thesis]. Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing; 2021 [cited 2024 December 27] Available at: https://urn.nsk.hr/urn:nbn:hr:168:091967

J. Gregorić, "Autonomna izgradnja hijerarhije za planiranje putanje mobilnih robota u velikim prostorima", Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, Zagreb, 2021. Available at: https://urn.nsk.hr/urn:nbn:hr:168:091967

Metadata
TitleAutonomna izgradnja hijerarhije za planiranje putanje mobilnih robota u velikim prostorima
Title (english)Autonomous hierarchy creation for path planning of mobile robots in large environments
AuthorJelena Gregorić
MentorMarija Seder (mentor)
Committee memberMarija Seder (predsjednik povjerenstva)
Committee memberIvan Petrović (član povjerenstva)
Committee memberIvan Marković (član povjerenstva)
GranterUniversity of Zagreb
Faculty of Electrical Engineering and Computing
Zagreb
Defense date and country2021-07-13, Croatia
Scientific / art field,
discipline and subdiscipline		TECHNICAL SCIENCES
Electrical Engineering
Abstract
Mobilni roboti sve češće se koriste za rješavanje problema prijevoza ljudi i tereta. Postrojenja, skladišni i otvoreni prostori predstavljaju problem za kreiranje klasičnih grafova na jednoj razini. Veličina i složenost takvih prostora zahtijevaju graf s mnogo čvorova, a velika i neplanska pretraživanja grafova vremenski su jako zahtjevna. Ovaj diplomski rad bavi se pitanjem kako se izgradnja karte prostora i planiranje putanje može obaviti hijerarhijskom apstrakcijom prostora. U radu je opisan hijerarhijski graf koji se sastoji od više razina hijerarhijske apstrakcije. Opis prostora H-grafom olakšava izradu karte i planiranje putanje te reducira složenost grafa. U ovom radu razvijen je algoritam autonomne izgradnje hijerarhijske karte prostora iz slika tlocrta. Algoritam izgrađuje graf koji se sastoji od pet razina apstrakcije, a osnovna prednost H-grafa je to što se, po potrebi, može jednostavno proširiti na više razina apstrakcije.
Abstract (english)
Mobile robots are increasingly being used to solve the problem of transporting people and goods. Factories, warehouses and open spaces pose a problem for constructing classical graphs on a single level. The size and complexity of such environments require a graph with many nodes, and large, unplanned graph searches can be very time consuming. This thesis addresses the problem of constructing a map of the environment and path planning using a hierarchical abstraction of the environment. The thesis describes a hierarchical graph consisting of several hierarchical levels of abstraction. The description of the environment by an H-graph facilitates the creation of the map and path planning, and also reduces the complexity of the graph. In this thesis has been developed an algorithm for autonomous creation of a hierarchical map of the environment from the floor plan. The algorithm builds a graph consisting of five abstract layers. The main advantage of the H-graph is that it can be easily extended to more abstraction levels if needed.
Keywords
Keywords (english)
Languagecroatian
URN:NBNurn:nbn:hr:168:091967
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 15:00:48