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master's thesis
Planiranje gibanja mobilnih robota u kontinuiranom prostoru konfiguracija
Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing, 2022. urn:nbn:hr:168:721567
Križanović, Tomislav
University of Zagreb
Faculty of Electrical Engineering and Computing

Institutional repository: FER Repository

Cite this document

Križanović, T. (2022). Planiranje gibanja mobilnih robota u kontinuiranom prostoru konfiguracija (Master's thesis). Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing. Retrieved from https://urn.nsk.hr/urn:nbn:hr:168:721567

Križanović, Tomislav. "Planiranje gibanja mobilnih robota u kontinuiranom prostoru konfiguracija." Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, 2022. https://urn.nsk.hr/urn:nbn:hr:168:721567

Križanović, Tomislav. "Planiranje gibanja mobilnih robota u kontinuiranom prostoru konfiguracija." Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, 2022. https://urn.nsk.hr/urn:nbn:hr:168:721567

Križanović, T. (2022). 'Planiranje gibanja mobilnih robota u kontinuiranom prostoru konfiguracija', Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, accessed 18 December 2024, https://urn.nsk.hr/urn:nbn:hr:168:721567

Križanović T. Planiranje gibanja mobilnih robota u kontinuiranom prostoru konfiguracija [Master's thesis]. Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing; 2022 [cited 2024 December 18] Available at: https://urn.nsk.hr/urn:nbn:hr:168:721567

T. Križanović, "Planiranje gibanja mobilnih robota u kontinuiranom prostoru konfiguracija", Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, Zagreb, 2022. Available at: https://urn.nsk.hr/urn:nbn:hr:168:721567

Metadata
TitlePlaniranje gibanja mobilnih robota u kontinuiranom prostoru konfiguracija
Title (english)Motion planning of mobile robots in continuous configuration space
AuthorTomislav Križanović
MentorMarija Seder (mentor)
Committee memberMarija Seder (član povjerenstva)
Committee memberIvan Petrović (član povjerenstva)
Committee memberJuraj Peršić (član povjerenstva)
GranterUniversity of Zagreb
Faculty of Electrical Engineering and Computing
Zagreb
Defense date and country2022-07-13, Croatia
Scientific / art field,
discipline and subdiscipline		TECHNICAL SCIENCES
Electrical Engineering
Abstract
U ovom radu obrađen je problem pronalaska glatke putanje mobilnog robota s diferencijalnim pogonom. Robot se nalazi u poznatom okruženju s preprekama, a njegov trenutni položaj i željeni položaj poznati su. Prostor se pretražuje E* algoritmom radi dobivanja najkraćeg puta i cijena svih čvorova karte, a na temelju tih informacija se izgrađuje putanja koja se sastoji od Bernstein-Bézierovih krivulja petog reda. Osim što su pogodne zbog prilagodljivog oblika i duljine, njima se jednostavno uključuju kinematička ograničenja robota. Algoritam je uspoređen s hibridnim E* algoritmom, kojim je i inspiriran. Putanje dobivene ovim algoritmima ne razlikuju se značajno po duljini, ali predloženi algoritam generira bitno pogodniju putanju u vidu profila brzina.
Abstract (english)
This paper deals with continuous and smooth path finding for differential drive mobile robot. Robot is located in known environment, filled with obstacles while starting and desired robot pose are also known. Firstly, E* search is performed to find shortest path and node prices. Based on this information, smooth path consisting of fifth order Bernstein-Bezier curves is generated. Benefit of using these curves for path finding is their flexibility when it comes to length and shape of path segments as well as a simple way to include robots kinematic constrains. Performance of proposed algorithm is compared to that of Hybrid E*, by which it is inspired. Paths generated using these algorithms do not differ much when it comes to path length, but when it comes to velocity profiles, proposed algorithm gives much better results.
Keywords
Keywords (english)
Languagecroatian
URN:NBNurn:nbn:hr:168:721567
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 on2023-01-14 09:12:56