Algoritmi planiranja glatke putanje autonomnih mobilnih robota

master's thesis

• Title (english): Smooth path planning algorithms of autonomous mobile robots
• Author: Iva Brkić
• Mentor: Marija Seder (mentor)
• Committee member: Marija Seder (predsjednik povjerenstva)
• Committee member: Ivan Petrović (član povjerenstva)
• Committee member: Ivan Marković (član povjerenstva)
• Granter: University of Zagreb; Faculty of Electrical Engineering and Computing; Zagreb
• Defense date and country: 2020-07-10, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Electrical Engineering

Abstract

Izgraditi robota koji bi imao sposobnost sam se gibati svojom okolinom, odnosno autonomnog mobilnog robota, bio je cilj sve otkako se počelo razvijati područje robotike.
Autonomno gibanje mobilnih robota jedan je od temeljnih i najtežih problema u robotici. Kako bi se to ostvarilo, potrebno je isplanirati putanju od početne do ciljne točke u okolini bez sudara s preprekama.
Dva su osnovna pristupa za planiranje putanje.
Prvi predstavlja metode zasnovane na diskretizaciji prostora i njegovu pretraživanju uz korištenje nekog algoritma za pretraživanje grafova. Drugi pristup predstavljaju metode zasnovane na uzorkovanju ostvarivih trajektorija i njihovu pretraživanju.
Zadatak je ovog diplomskog rada analizirati i usporediti određene algoritme za oba pristupa planiranju putanje prema parametrima poput vremena izvođenja algoritma i duljini dobivenih putanja.

Abstract (english)

Building a robot with the ability to move around on its own, i.e. an autonomous mobile robot, has been a goal ever since the field of robotics began to develop.
The autonomous motion of mobile robots is one of the fundamental and most difficult problems in robotics. In order to achieve this, it is necessary to plan a route from the starting point to the finish point in the environment without colliding with obstacles.
There are two basic approaches to route planning.
The first presents methods based on the discretization of space and its search using a graph search algorithm. Another approach are methods based on sampling achievable trajectories and searching for them.
The task of this thesis is to analyze and compare certain algorithms for both approaches to route planning according to parameters such as algorithm execution time and length of obtained paths.

• Keywords: autonomni mobilni roboti; planiranje putanje; duljina putanje; vrijeme izvođenja algoritma
• Keywords (english): autonomous mobile robots; path planning; path length; algorithm execution time
• Language: croatian
• URN:NBN: urn:nbn:hr:168:106686
• Study programme: Title: Electrical Engineering and Information Technology; Study programme type: university; Study level: graduate; Academic / professional title: magistar/magistra inženjer/inženjerka elektrotehnike i informacijske tehnologije (magistar/magistra inženjer/inženjerka elektrotehnike i informacijske tehnologije)
• Type of resource: Text
• File origin: Born digital
• Access conditions: Closed access
• Created on: 2023-01-13 11:53:41