Komunikacijski modul za zadavanje ruta autonomnim vozilima

master's thesis

• Author: Marija Lovrić
• Mentor: Marija Seder (mentor)
• Granter: University of Zagreb; (Croatian Defence Academy "Dr. Franjo Tuđman"); Zagreb
• Defense date and country: 2021, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Traffic and Transport Technology

Abstract

Današnjica rapidno postaje doba autonomnih vozila. Automobilska industrija, akademske
zajednice i vojni sektor zaokupljeni su pitanjem potpuno autonomnog vozila. U ovom
diplomskom radu predstavljeni su osnovni pojmovi autonomnih vozila i tehnologije koja vozila
koriste. GPS, LiDAR senzor, radar, ultrazvučni senzor i računalni vid, samo su neki od
tehnologija uz čiju sintezu podataka se dobiva cjelokupna slika okoline, ali se i stvaraju
preduvjeti za stvaranje algoritama i programskog koda s kojim će vozilo biti samostalno. Kako bi
se olakšalo upravljanje autonomnim vozilom, došlo je do potrebe za stvaranjem korisničkog
sučelja u kojem operater zadaje rutu kretanja ili samo krajnju točku, a vozilo samostalno obavlja
zadatak autonomne vožnje. Kao rješenje, ovaj diplomski rad predstavlja komunikacijski modul
pisan u programskom jeziku Python, čija se komunikacija temelji na biblioteci ZMQ, a
uspješnost modula je provjerena eksperimentalno unutar programa QGIS i simulatora Gazebo na
udaljenom računalu.

Abstract (english)

Today is rapidly becoming the age of autonomous vehicles. The automotive industry, academia
and the military sector are oriented on the issue of a fully autonomous vehicle. In this master
thesis, the basic concepts and the technology used in autonomous vehicles will be presented.
GPS, LiDAR sensor, radar, ultrasonic sensor and computer vision are just part of the
technologies from which the data is gathered to get a complete picture of the environment, but
also create the preconditions for creating algorithms and program code with which the vehicle
will be independent. In order to facilitate the control of autonomous vehicles, there has been a
need to create a user interface in which the operator specifies a route or only an end point, and
the vehicle independently performs the task of autonomous driving. As a solution, this thesis
presents a communication module written in the Python programming language, whose
communication is based on ZMQ libraries, and the success of the module is checked
experimentally within the QGIS program and the Gazebo simulator on a remote computer.

• Keywords: autonomna vozila; komunikacijski modul; patroliranje; ZMQ; QGIS
• Keywords (english): autonomous vehicles; communication module; patrolling; ZMQ; QGIS
• Language: croatian
• URN:NBN: urn:nbn:hr:249:598466
• Study programme: Title: Military Engineering; Study programme type: university; Study level: graduate; Academic / professional title: MAGISTAR/MAGISTRA INŽENJER/INŽENJERKA VOJNOG INŽENJERSTVA (MAGISTAR/MAGISTRA INŽENJER/INŽENJERKA VOJNOG INŽENJERSTVA)
• Type of resource: Text
• File origin: Born digital
• Access conditions: Closed access
• Created on: 2021-12-30 13:48:16