| Title |
Žemėlapių, skirtų robotų navigacijai nežinomoje aplinkoje, sudarymo spalvotais Petri tinklais galimybių tyrimas / |
| Translation of Title |
Investigation of maps creation possibilities for robot navigation in unknown environment based on colored Petri nets. |
| Authors |
Petkevičius, Laurynas |
| Full Text |
|
| Pages |
58 |
| Keywords [eng] |
map building ; Centaurus CPN ; colored Petri nets |
| Abstract [eng] |
The aim of this work is to investigate maps creation possibilities for robot navigation in unknown environment based on colored Petri nets. The presented work describes solutions for the mobile robot, which allows to build a map of an unknown environment, and also new method for building a map of an unknown environment based on vector marks generation was proposed. Mapping methods have been analyzed. Mapping techniques are divided into two parts: when robots are used in a real environment and when modeled in the virtual environment. Vectors marks generation method presented as an opportunity to map building of an unknown environment. Method based on colored Petri nets which are used in the program package Centaurus CPN. The aim of method is to detect changes in structures barriers, known as the break points, and build a map of the environment. There were created four different environments, which have been used to build maps. Different maps were compared between each other and obtained results were analyzed. Software Centaurus CPN allows to change map building parameters. |
| Dissertation Institution |
Kauno technologijos universitetas. |
| Type |
Master thesis |
| Language |
Lithuanian |
| Publication date |
2015 |
