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|a Ovčarić, Gordan
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|a Optimizacija gibanja Pioneer P3-DX robota :
|b diplomski rad /
|c Gordan Ovčarić ; [mentor Zdenko Kovačić].
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|a Motion Optimization of a Pioneer P3-DX robot
|i Naslov na engleskom:
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|a Zagreb,
|b G. Ovčarić,
|c 2016.
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|a 79 str. ;
|c 30 cm +
|e CD-ROM
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|b diplomski studij
|c Fakultet elektrotehnike i računarstva u Zagrebu
|g smjer: Automatika, šifra smjera: 46, datum predaje: 2016-07-01, datum završetka: 2016-07-14
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|a Sažetak na hrvatskom: U ovom diplomskom radu provedeni su eksperimenti vezani za autonomnu navigaciju mobilnih robota. Korišteni su navigacijski algoritmi: Dijkstrin algoritam planiranja i slijeđenje pristupom Receding Horizon Control i A* algoritam planiranja s algoritmom čistog slijeđenja. U laboratorijskim uvjetima simulirane su vožnje robota prema naprijed, zavoj ulijevo i zavoj udesno. Svaka kretnja ponavljala se s 3 brzine (0.1, 0.3 i 0.6 m/s) i to po tri puta radi vjerodostojnosti mjerenja. Parametri za svaki algoritam su eksperimentalno određeni kako bi optimirali navigaciju robota u prostoru. Gibanje robota praćeno je preko sustava infracrvenih kamera Optitrack. Sustav Optitrack ima visoku preciznost praćenja objekta (pozicijski i orijentacijski) pa je u ovom radu služio kao referenca mjerenja. Sva snimljena mjerenja obrađena su i analizirana u programskom sučelju MATLAB te na temelju rezultata i viđenog ponašanja robota tokom snimanja donijeti su zaključci o svakom algoritmu. U zaključku su sumirane kvalitete i mane svakog algoritma te tablično prikazana glavna svojstva svakog algoritma.
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|a Sažetak na engleskom: In this Master thesis experiments regarding autonomously navigation of mobile robots were conducted. Three navigational algorithms were used: Dijkstra path planning algorithm with approach following, Receding Horizon Control and A* path planning algorithm with Pure Pursuit. Mobile robot autonomous driving was simulated in laboratory conditions : driving
forward, left turn and right turn. Each driving simulation was consisted of three different vehicle speeds (0.1, 0.3 and 0.6 m/s) and each experiment was repeated three times to gain experiment credibility. Parameters for each algorithm were determined with series of experiments on robot so optimal navigation can be established. Robot movements were tracked with infrared camera system Optitrack. Optitrack system is highly precise camera system for object tracking and recognition (position and orientation) so in this thesis it was used as a measurement reference. Every recorded experiment was processed and analyzed in computer program MATLAB and the conclusions regarding each algorithm were given based on obtained results and observed robot’s behaviour during experiments. The qualities and flows of each algorithm were given and systematically shown in special table in the Conclusion, showing main attributes of each navigational algorithm.
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|a robot Pioneer P3-DX, autonomna navigacija, AMCL lokalizacija, SLAM stvaranje karte prostora, laser LMS100, Optitrack, preciznost pozicioniranja robota, Dijkstrin algoritam, Navigation Stack, Receding Horizon Control, A* algoritam planiranja putanje, algoritam cistog slijeđenja
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| 653 |
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|a robot Pioneer P3-DX, autonomus navigation, AMCL localization, SLAM mapping, laser LMS100, Optitrack, robot positioning precision, Djikstra path planning algorithm, Navigation Stack, Receding Horizon Control, A* path planning algorithm, Pure Pursuit algorithm
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|a Kovačić, Zdenko
|4 ths
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|d 49617
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