Localization, motion planning and control of mobile robots in intelligent spaces

Brezak, Mišel

prikaz prve stranice dokumenta Localization, motion planning and control of mobile robots in intelligent spaces

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doctoral thesis

Localization, motion planning and control of mobile robots in intelligent spaces

Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing, 2010. urn:nbn:hr:168:150149

Brezak, Mišel

University of Zagreb
Faculty of Electrical Engineering and Computing

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APA 6th Edition

Brezak, M. (2010). Localization, motion planning and control of mobile robots in intelligent spaces (Doctoral thesis). Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing. Retrieved from https://urn.nsk.hr/urn:nbn:hr:168:150149

MLA 8th Edition

Brezak, Mišel. "Localization, motion planning and control of mobile robots in intelligent spaces." Doctoral thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, 2010. https://urn.nsk.hr/urn:nbn:hr:168:150149

Chicago 17th Edition

Harvard

Brezak, M. (2010). 'Localization, motion planning and control of mobile robots in intelligent spaces', Doctoral thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, accessed 11 September 2024, https://urn.nsk.hr/urn:nbn:hr:168:150149

Vancouver

Brezak M. Localization, motion planning and control of mobile robots in intelligent spaces [Doctoral thesis]. Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing; 2010 [cited 2024 September 11] Available at: https://urn.nsk.hr/urn:nbn:hr:168:150149

IEEE

M. Brezak, "Localization, motion planning and control of mobile robots in intelligent spaces", Doctoral thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, Zagreb, 2010. Available at: https://urn.nsk.hr/urn:nbn:hr:168:150149

Cite this item: https://urn.nsk.hr/urn:nbn:hr:168:150149

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Metadata

Title	Localization, motion planning and control of mobile robots in intelligent spaces
Title (croatian)	Lokalizacija, planiranje gibanja i upravljanje mobilnim robotima u inteligentnim prostorima
Author	Mišel Brezak
Mentor	Ivan Petrović (mentor)
Committee member	Sven Lončarić (predsjednik povjerenstva)
Committee member	Joško Deur (član povjerenstva)
Granter	University of Zagreb Faculty of Electrical Engineering and Computing Zagreb
Defense date and country	2010-03-26, Croatia
Scientific / art field, discipline and subdiscipline	TECHNICAL SCIENCES Computing
Universal decimal classification (UDC)	004 - Computer science and technology. Computing. Data processing
Abstract	This thesis investigates application of mobile robots in environments provided with ambient intelligence to form the so-called Intelligent Spaces (iSpaces). The purpose of the iSpace is providing various services to its users, where mobile robots provide numerous possibilities, such as load delivery, visitor guidance etc. Thus the focus of the thesis is set to developing the capability of the space to fully utilize mobile robots, with the emphasis on development of low-level algorithms that can benefit by using intelligent space advantages, such as precise localization and mapping and increased computational power. In this way a method for fast and precise mobile robot localization using distributed cameras is developed. The developed algorithm enables high framerates and at the same time high measurement precision and accuracy as it works in subpixel precision. The algorithm was tested in multiple experiments and performed with very good results. Second, a fast and flexible robot mobile robot motion planning method appropriate for application in iSpaces is developed. The developed motion planner is decoupled and consists of four stages: path planning, path smoothing, trajectory planning and trajectory tracking. The method can replan the path in real time, which enables planning in dynamic environments.
Abstract (croatian)	Disertacija obrađuje primjenu mobilnih robota u prostorima opremljenim prostornom inteligencijom, tvoreći na taj način tzv. inteligentne prostore (iProstore). Svrha iProstora je pružanje usluga korisnicima prostora, gdje mobilni roboti pružaju brojne mogućnosti, primjerice dostavu, vođenje posjetitelja itd. Stoga je težište disertacije stavljeno na razvoj mogućnosti prostora da u potpunosti iskoristi mobilne robote, s naglaskom na razvoj algoritama niže razine koji mogu iskoristiti prednosti inteligentnih prostora, kao što su precizna lokalizacija i kartiranje te povećana računalna snaga. U prvom redu, razvijena je brza i precizna metoda lokalizacije korištenjem sustava raspodijeljenih kamera (tzv. sustav globalnog vida). Razvijeni algoritam omogućava obradu velikog broja slika u sekundi, i istodobno visoku preciznost i točnost mjerenja, budući da radi u području potpiksela. Algoritam je ispitan kroz više eksperimenata koji su pokazali vrlo dobre rezultate. Zatim je razvijena brza i fleksibilna metoda planiranja gibanja mobilnih robota pogodna za inteligentne prostore. Razvijeni planer gibanja je raspodijeljen i sastoji se od èetiri faze: planiranje putanje, izglađivanje putanje, planiranje trajektorije i slijeđenje trajektorije. Metoda omogućava replaniranje putanje u stvarnom vremenu, čime je omogućeno planiranje u dinamičkim prostorima.
Keywords
Keywords (english)
Language	english
URN:NBN	urn:nbn:hr:168:150149
Promotion	2010
Study programme	Title: Computer Science Study programme type: university Study level: postgraduate Academic / professional title: Doktor znanosti (Doktor znanosti)
Type of resource	Text
Extent	vi, 229 str. : graf. prikazi
File origin	Born digital
Access conditions	Open access
Terms of use
Repository	FER Repository
Created on	2024-03-19 13:17:11