Jezik: | Slovenski jezik |
---|---|
Leto izida: | 2021 |
Tipologija: | 2.09 - Magistrsko delo |
Organizacija: | UL FS - Fakulteta za strojništvo |
Založnik: | [G. Bolka] |
UDK: | 007.52:004.85:004.032.26(043.2) |
COBISS: | 51334147 |
Št. ogledov: | 430 |
Št. prenosov: | 100 |
Ocena: | 0 (0 glasov) |
Metapodatki: |
Sekundarni jezik: | Angleški jezik |
---|---|
Sekundarni naslov: | Development of a software package for predicting mobile robot behaviour |
Sekundarni povzetek: | Autonomous mobile robots in the modern industrial environment are surrounded by numerous moving objects, which the robot is able to track using its sensors. Often the future position of such objects is needed, therefore we examined the usage of time series methods for trajectory prediction with an emphasis on neural network models. We showed that encoder-decoder LSTM model can successfully learn periodic patterns in the movement of a robot. Enhanced version of this architecture was used to predict short-term trajectories, which we implemented in practice as a ROS node for trajectory prediction. |
Sekundarne ključne besede: | master thesis;mobile robotics;time series;trajectory prediction;artificial neural networks;LSTM networks;GRU networks;robotics middleware ROS; |
Vrsta dela (COBISS): | Magistrsko delo/naloga |
Študijski program: | 0 |
Konec prepovedi (OpenAIRE): | 1970-01-01 |
Komentar na gradivo: | Univ. Ljubljana, Fak. za strojništvo |
Strani: | XXII, 68 str. |
ID: | 12515752 |