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master's thesis
Planiranje misije mobilnih robota u strukturiranom plasteniku
Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing, 2022. urn:nbn:hr:168:356637
Mihelčić, Filip
University of Zagreb
Faculty of Electrical Engineering and Computing

Institutional repository: FER Repository

Cite this document

Mihelčić, F. (2022). Planiranje misije mobilnih robota u strukturiranom plasteniku (Master's thesis). Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing. Retrieved from https://urn.nsk.hr/urn:nbn:hr:168:356637

Mihelčić, Filip. "Planiranje misije mobilnih robota u strukturiranom plasteniku." Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, 2022. https://urn.nsk.hr/urn:nbn:hr:168:356637

Mihelčić, Filip. "Planiranje misije mobilnih robota u strukturiranom plasteniku." Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, 2022. https://urn.nsk.hr/urn:nbn:hr:168:356637

Mihelčić, F. (2022). 'Planiranje misije mobilnih robota u strukturiranom plasteniku', Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, accessed 02 November 2024, https://urn.nsk.hr/urn:nbn:hr:168:356637

Mihelčić F. Planiranje misije mobilnih robota u strukturiranom plasteniku [Master's thesis]. Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing; 2022 [cited 2024 November 02] Available at: https://urn.nsk.hr/urn:nbn:hr:168:356637

F. Mihelčić, "Planiranje misije mobilnih robota u strukturiranom plasteniku", Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, Zagreb, 2022. Available at: https://urn.nsk.hr/urn:nbn:hr:168:356637

Metadata
TitlePlaniranje misije mobilnih robota u strukturiranom plasteniku
Title (english)Mission planning for mobile robots in a structured greenhouse
AuthorFilip Mihelčić
MentorMatko Orsag (mentor)
Committee memberMatko Orsag (član povjerenstva)
Committee memberDamjan Miklić (član povjerenstva)
Committee memberTamara Petrović (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 opisane su metode lokalizacije, planiranja putanje te slijeđenja putanje kod mobilnih robota. Odabrane metode koje su implementirane na platformi mobilnog robota su detaljnije opisane. Također je opisano planiranje misija heterogenog robotskog sustava i upravljanje prometom mobilnih robota. Odabrana je metoda slična Bankarevom algoritmu za implementaciju algoritma upravljanja prometom unutar strukturiranog staklenika. Algoritam je implementiran na bazi ROS biblioteke u jeziku C++. Uz algoritam korišteni su dodatni alati za izrađivanje Roadmap-a, potrebni algoritmu za normalan rad. U konačnici se eksperimentom unutar Gazebo simulatora isprobava rad algoritma za upravljanje prometa. Sustav se testira na mobilnom robotu Pioneer 3-DX.
Abstract (english)
This thesis describes researched methods of localization, path planning and path following for mobile robots. The methods that were chosen to implement on the mobile robot platform are described in more detail. Furthermore, algorithms for mission planning in heterogenous robotic systems and traffic management of mobile robots are also described. A method of mobile robot traffic management in a structured greenhouse is implemented, based on the Banker's algorithm. The algorithm is implemented using the C++ ROS framework library. Other tools for Roadmap building are used by the algorithm, so it could function properly. Ultimately an experiment is conducted inside the Gazebo simulator so that the functionalyit of the algorithm could be tested. The system is tested on the Pioneer 3-DX mobile robot.
Keywords
Keywords (english)
Languagecroatian
URN:NBNurn:nbn:hr:168:356637
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 09:33:21