Planiranje putanje dvaju mobilnih robota za zajednički prijevoz tereta

undergraduate thesis

• Title (english): Path planning of two mobile robots for joint transportation of large objects
• Author: Fran Canjuga
• Mentor: Ivan Marković (mentor)
• Committee member: Ivan Marković (član povjerenstva)
• Committee member: Jelena Gregorić (član povjerenstva)
• Committee member: Vlaho-Josip Štironja (član povjerenstva)
• Granter: University of Zagreb; Faculty of Electrical Engineering and Computing; Zagreb
• Defense date and country: 2024-07-05, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Computing

Abstract

Ovaj rad istražuje korištenje unaprijeđenog A* algoritma za optimizaciju putanje dvaju mobilnih robota i tereta, koji se kreću kao cjelina kroz razne terene prikazane kao mrežaste mape. Eksperimenti su provedeni na nekoliko scenarija, uključujući različite scenarije početnih i ciljnih pozicija te uz dodatne prepreke. Prema rezultatima, algoritam uspješno pronalazi najkraću i optimalnu putanju, ako je ona moguća. Također, algoritam se dobro prilagođava promjenama u okolini, uključujući prolazak kroz uske prolaze i kretanje uz rub mape. Pravci za budući rad uključuju poboljšanje heuristike, prilagodbu algoritma za veće robote te unaprjeđenje A* algoritma na dinamičke promjene prepreka.

Abstract (english)

This paper explores the use of an enhanced A* algorithm for optimizing the paths of two mobile robots and cargo, moving together through various terrains depicted as grid maps. Experiments were conducted across multiple scenarios, including different sets of initial and goal positions, along with additional obstacles. According to the results, the algorithm successfully finds the shortest and optimal path, if feasible. Additionally, the algorithm adapts well to environmental changes, including navigating through narrow passages and along the map edges. Future directions include improving the heuristic, adapting the algorithm for larger robots, and enhancing the A* algorithm for dynamic obstacle changes.

• Keywords: A* algoritam; mobilni roboti; optimizacija putanje; heuristika; transport tereta
• Keywords (english): A* algorithm; mobile robots; path optimization; heuristic; cargo transportation
• Language: croatian
• URN:NBN: urn:nbn:hr:168:482576
• 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: 2024-10-12 20:15:45