20.500.12556/DKUM-90684 Optimizacija algoritma za avtonomno navigacijo mobilnega robota magistrsko delo Optimization of autonomous mobile robot navigation algorithm Magistrsko delo opisuje delovanje algoritma avtonomne navigacije robota FarmBeast, ki je namenjen avtomatizaciji različnih kmetijskih opravil, sekundarno pa tudi za tekmovanje Field Robot Event v sklopu panoge osnovne in napredne navigacije. Za delovanje so uporabljeni napredni senzorji, kot sta LiDAR in IMU, pri čemer se podatki filtrirajo in transformirajo z namenom natančnejše zaznave podatkov o okolici robota. Ob tem je za potrebe obračanja implementirana uporaba kvaternionov, kar pripomore k večji natančnosti in robustnosti delovanja. Testiranja, na podlagi primerjave s predhodno verzijo algoritma, so pokazala znatno izboljšanje hitrosti in večjo natančnost vožnje ter izrazito zmanjšanje poškodovanih rastlin. Meritve potrjujejo, da je novo razviti algoritem bolj učinkovit in bolj zanesljiv v primerjavi s predhodno verzijo. The master's thesis describes the autonomous navigation algorithm of the FarmBeast robot, which is designed to automate agricultural tasks, while also competing in the Field Robot Event in the basic and advanced navigation categories. The robot uses advanced sensors, such as LiDAR and IMU, with data being filtered and transformed to ensure more accurate perception of the robot's surroundings. Additionally, quaternions are implemented for turning, which contribute to greater precision and robustness in performance. Testing, based on comparisons with the previous version of the algorithm, has shown a significant improvement in speed and driving accuracy, along with a substantial reduction in plant damage. The results confirm that the newly developed algorithm is more efficient and reliable compared to the previous version. FarmBeast robot avtonomna navigacija kmetijska avtomatizacija optimizacija algoritma FarmBeast robot autonomous navigation agricultural automation algorithm optimization true true false [G. Popič] Slovenski jezik Angleški jezik Magistrsko delo/naloga 2024-09-16 09:07:40 2024-10-03 09:14:20 2024-11-22 03:10:17 0000-00-00 00:00:00 2024 0 Maribor 0 Maribor 1 spletni vir (1 datoteka PDF (X, 63 f.)) 0000-00-00 NiDoloceno NiDoloceno NiDoloceno 0000-00-00 0000-00-00 0000-00-00 007.52(043.2) 215965955 MAG_Popic_Gregor_2024.pdf MAG_Popic_Gregor_2024.pdf 1 8B06776E997785939D8E6C9EB6F17135 c4cacfa0230b4b5f0d7da760657e888b5ea963ac3f8c3fac53ece124874fbd65 f00afd7d-80dc-11ef-927c-00155d000105 https://dk.um.si/Dokument.php?lang=slv&id=186175 Fakulteta za strojništvo 0 0 0