Tesi etd-09112023-192202 |
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Tipo di tesi
Tesi di laurea magistrale
Autore
LORENZONI, SIMONE
URN
etd-09112023-192202
Titolo
RRT* planner applied to an industrial AMR through the navigation stack of ROS2 (NAV2)
Dipartimento
INGEGNERIA DELL'INFORMAZIONE
Corso di studi
INGEGNERIA ROBOTICA E DELL'AUTOMAZIONE
Relatori
relatore Prof.ssa Pallottino, Lucia
tutor Ing. Settimi, Alessandro
tutor Ing. Settimi, Alessandro
Parole chiave
- ROS2
- NAV2
- planner
- slam
- obstacle avoidance
- Jobot
- RRT*
Data inizio appello
28/09/2023
Consultabilità
Non consultabile
Data di rilascio
28/09/2093
Riassunto
The objective of this thesis is the development of a planner and
its implementation on a AMR, as first in simulated environment, carried out
with Gazebo simulator, then in real situation on a AMR called Jobot. The planner
used is a Rapidly Exploring Random Tree Star (RRT*) and the work focusing on
the obstacles avoidance problems in real time.The software developed and his
implementation has been realize by the Proxima Robotics agency.
The work has been implemented with ROS2, through his navigation stack NAV2.
The developed algorithm achieved excellent performance results in real time situations.
its implementation on a AMR, as first in simulated environment, carried out
with Gazebo simulator, then in real situation on a AMR called Jobot. The planner
used is a Rapidly Exploring Random Tree Star (RRT*) and the work focusing on
the obstacles avoidance problems in real time.The software developed and his
implementation has been realize by the Proxima Robotics agency.
The work has been implemented with ROS2, through his navigation stack NAV2.
The developed algorithm achieved excellent performance results in real time situations.
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