Planiranje gibanja mobilnog robota u simuliranom okruženju

undergraduate thesis

• Title (english): Mobile robot path planning in simulated environment
• Author: Ivan Filipović
• Mentor: Ivan Marković (mentor)
• Committee member: Ivan Marković (član povjerenstva)
• Committee member: Borna Bićanić (član povjerenstva)
• Committee member: Luka Petrović (član povjerenstva)
• Granter: University of Zagreb; Faculty of Electrical Engineering and Computing; Zagreb
• Defense date and country: 2022-07-15, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Computing

Abstract

Ovaj rad obrađuje osnove planiranja putanje i snalaženje robota u otprije poznatom prostoru. Dan je uvid u implementaciju i rad algoritama A-zvjezdica i algoritma brzog pretraživanja slučajnih stabala. Spomenuti uvid se sastoji od objašnjenja rada algoritama kroz pseudo kod i primjere, te komentiranje svojstava, prednosti i nedostataka pojedinog algoritma.
Simulacija rada sastoji se od 3 glavna koraka i provedena je koristeći alat MATLAB. Prvi korak simulacije je definiranje mape prostora po kojemu se robot treba kretati. Nakon toga slijedi planiranje putanje koje se odrađuje korištenjem jednog od spomenutih algoritama. Posljednji korak je prikaz isplaniranih putanja i procesa odabira putanje.
Rad sadržava tri eksperimenta koji se razlikuju po složenosti. Usporedbom izvedenih eksperimenata čitatelj može procijeniti u kojim situacijama je prigodno koristiti koji algoritam i sa kojim parametrima.

Abstract (english)

This paper shows the basics of path planning and robot navigation in previously known space. An insight into the implementation and operation of algorithms A-star and rapidly exploring random tree is given. The mentioned insight consists of explaining the work of algorithms through pseudo code and examples, while commenting on the properties, advantages and disadvantages of each algorithm.
The simulation of algorithm operations was performed with the MATLAB software. The first step of the simulation is to define a map of the space in which the robot should move. This is followed by path planning, which is done using one of the mentioned algorithms. The last step is to display the planned path and the path selection process.
The paper includes three experiments that differ in complexity. By comparing the performed experiments, the reader can assess in which situations it is appropriate to use which algorithm and proper parameter values.

• Keywords: Robot; A-zvjezdica; Algoritam brzog pretraživanja slučajnih stabala; MATLAB; A*; RRT
• Keywords (english): Robot; A-star; Rapidly exploring random tree algorithm; MATLAB; A*; RRT
• Language: croatian
• URN:NBN: urn:nbn:hr:168:822072
• Study programme: Title: Computing; Study programme type: university; Study level: undergraduate; Academic / professional title: sveučilišni/a prvostupnik/ prvostupnica (baccalaureus/baccalaurea) inženjer/inženjerka računarstva (sveučilišni/a prvostupnik/ prvostupnica (baccalaureus/baccalaurea) inženjer/inženjerka računarstva)
• Type of resource: Text
• File origin: Born digital
• Access conditions: Closed access
• Created on: 2023-01-15 10:07:31