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master's thesis
Autonomni mobilni roboti
Osijek: Josip Juraj Strossmayer University of Osijek, School of Applied Mathematics and Informatics, 2024. urn:nbn:hr:126:407198
Rajković, Marko
Josip Juraj Strossmayer University of Osijek
School of Applied Mathematics and Informatics

Institutional repository: Repository of School of Applied Mathematics and Informatics

Cite this document

Rajković, M. (2024). Autonomni mobilni roboti (Master's thesis). Osijek: Josip Juraj Strossmayer University of Osijek, School of Applied Mathematics and Informatics. Retrieved from https://urn.nsk.hr/urn:nbn:hr:126:407198

Rajković, Marko. "Autonomni mobilni roboti." Master's thesis, Josip Juraj Strossmayer University of Osijek, School of Applied Mathematics and Informatics, 2024. https://urn.nsk.hr/urn:nbn:hr:126:407198

Rajković, Marko. "Autonomni mobilni roboti." Master's thesis, Josip Juraj Strossmayer University of Osijek, School of Applied Mathematics and Informatics, 2024. https://urn.nsk.hr/urn:nbn:hr:126:407198

Rajković, M. (2024). 'Autonomni mobilni roboti', Master's thesis, Josip Juraj Strossmayer University of Osijek, School of Applied Mathematics and Informatics, accessed 16 November 2024, https://urn.nsk.hr/urn:nbn:hr:126:407198

Rajković M. Autonomni mobilni roboti [Master's thesis]. Osijek: Josip Juraj Strossmayer University of Osijek, School of Applied Mathematics and Informatics; 2024 [cited 2024 November 16] Available at: https://urn.nsk.hr/urn:nbn:hr:126:407198

M. Rajković, "Autonomni mobilni roboti", Master's thesis, Josip Juraj Strossmayer University of Osijek, School of Applied Mathematics and Informatics, Osijek, 2024. Available at: https://urn.nsk.hr/urn:nbn:hr:126:407198

Metadata
TitleAutonomni mobilni roboti
Title (english)Autonomous Mobile Robots
AuthorMarko Rajković
MentorDomagoj Ševerdija (mentor)
Committee memberDomagoj Matijević (predsjednik povjerenstva)
Committee memberDomagoj Ševerdija (član povjerenstva)
Committee memberMateja Đumić (član povjerenstva)
GranterJosip Juraj Strossmayer University of Osijek
School of Applied Mathematics and Informatics
Osijek
Defense date and country2024-10-30, Croatia
Scientific / art field,
discipline and subdiscipline		NATURAL SCIENCES
Mathematics
Mathematical Logic and Accounting
Abstract
U ovom ćemo se radu upoznati s autonomnim mobilnim robotima. Krenut ćemo od kinematike mobilnih robota koja će nam opisati kako pojedine vrste kotača mogu utjecati na gibanje samog robota. Tu ćemo dati jednostavan primjer upravljanja robotom pomoću PID regulatora koristeći dobivene kinematske uvjete. Zatim ćemo se baviti lokalizacijom gdje ćemo vidjeti kako se pozicija i orijentacija mobilnog robota može vjerojatnosno modelirati u prostoru. Tu ćemo se dotaknuti različitih reprezentacija mape te opisati postupak mapiranja, odnosno izgradnje mape za jednu vrstu dekomponiranih mapa. Zatim ćemo se baviti problemom istovremene lokalizacije i mapiranja gdje se robot u nepoznatom prostoru bavi istovremeno izgradnjom mape i lokaliziranjem. Nakon toga obradit ćemo navigaciju gdje ćemo prezentirati algoritam koji pronalazi najkraći put između dvije točke na dekomponiranim mapama. Zadnja će stavka ovog rada biti konkretna implementacija navedenih algoritama gdje ćemo omogućiti simuliranom robotu da se potpuno lokalizira i kreira potpunu mapu prostora, pri tome ne poznavajući u početku gdje se nalazi i djelomično poznavajući objekte u tom prostoru u početku. Kroz prostor će se gibati koristeći obrađeni algoritam navigacije po unaprijed zadanim točkama prostora.
Abstract (english)
In this paper we will introduce ourselves to autonomous mobile robots. We will start with mobile robot kinematics, which will explain to us how different types of wheels affect motion of a mobile robot. In this section we will give one simple example of how to control a robot using PID regulator while incorporating obtained kinematics constraints. Then we will deal with localization where we will see how position and orientation of a mobile robot can be probabilistically modelled in space. There we will see different map representations and describe mapping process for one type of decomposed maps. After that, we will get into the simultaneous localization and mapping problem (SLAM) which happens when a mobile robot finds himself in an unexplored area and needs to explore the area while localizing in that area in parallel. Then we will see one navigation technique commonly used in decomposed types of maps. The last part of this paper will contain the implementation of the processed algorithms, which will enable a simulated mobile robot to successfully localize and build a map of an area with partial knowledge of obstacles and unknown initial position. The robot will move through the area using the obtained navigation technique which will build paths through preset points.
Keywords
Keywords (english)
Languagecroatian
URN:NBNurn:nbn:hr:126:407198
Study programmeTitle: Mathematics; specializations in: Financial and Statistical Mathematics, Mathematics and Computer Science, Industrial and Applied Mathematics
Course: Mathematics and Computer Science
Study programme type: university
Study level: graduate
Academic / professional title: magistar/magistra matematike (magistar/magistra matematike)
Type of resourceText
File originBorn digital
Access conditionsOpen access
Terms of useLicence In copyright icon
Created on2024-11-04 11:27:35