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master's thesis
Navigacija broda s izbjegavanjem prepreka
2022. urn:nbn:hr:168:771584
Maznik, Mislav
University of Zagreb
Faculty of Electrical Engineering and Computing

Cite this document

Maznik, M. (2022). Navigacija broda s izbjegavanjem prepreka (Master's thesis). Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing. Retrieved from https://urn.nsk.hr/urn:nbn:hr:168:771584

Maznik, Mislav. "Navigacija broda s izbjegavanjem prepreka." Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, 2022. https://urn.nsk.hr/urn:nbn:hr:168:771584

Maznik, Mislav. "Navigacija broda s izbjegavanjem prepreka." Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, 2022. https://urn.nsk.hr/urn:nbn:hr:168:771584

Maznik, M. (2022). 'Navigacija broda s izbjegavanjem prepreka', Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, accessed 13 November 2024, https://urn.nsk.hr/urn:nbn:hr:168:771584

Maznik M. Navigacija broda s izbjegavanjem prepreka [Master's thesis]. Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing; 2022 [cited 2024 November 13] Available at: https://urn.nsk.hr/urn:nbn:hr:168:771584

M. Maznik, "Navigacija broda s izbjegavanjem prepreka", Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, Zagreb, 2022. Available at: https://urn.nsk.hr/urn:nbn:hr:168:771584

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Metadata
TitleNavigacija broda s izbjegavanjem prepreka
Title (english)Ship navigation with obstacle avoidance
AuthorMislav Maznik
MentorNikola Mišković (mentor)
Committee memberNikola Mišković (član povjerenstva)
Committee memberĐula Nađ (član povjerenstva)
Committee memberTamara Petrović (član povjerenstva)
GranterUniversity of Zagreb
Faculty of Electrical Engineering and Computing
Zagreb
Defense date and country2022-07-15, Croatia
Scientific / art field,
discipline and subdiscipline		TECHNICAL SCIENCES
Electrical Engineering
Abstract
U ovom radu opisani su neki od brojnih algoritama planiranja putanje mobilnih robota. Prvo su opisani algoritmi koji se baziraju na lokalne strategije planiranja, a zatim oni koji koriste globalnu strategiju planiranja. Nakon toga opisani su neki od RRT algoritama koji rade na principu uzorkovanja. Algoritmi su testirani pomoću OMPL-a i OMPL.app-a koristeći 2D mape kao i gotove mape s preprekama. Zatim je implementirana navigacija broda na moru. Napravljen je kontroler pomoću kojeg brod zaobilazi prepreke i ide prema cilju. Simulacija je izvršena u Unityju koristeći ROS.
Abstract (english)
This paper describes some of the numerous algorithms for planning the path of mo- bile robots. Algorithms based on local planning strategies are described first, followed by those using a global planning strategy. After that, some of the RRT algorithms that work on the principle of sampling are described. The algorithms were tested using OMPL and OMPL.app using 2D maps as well as ready-made obstacle maps. Then the ship’s navigation at sea was implemented. A controller was made with which the ship bypasses obstacles and goes towards the goal. The simulation was performed in Unity using ROS.
Keywords
Keywords (english)
Languagecroatian
URN:NBNurn:nbn:hr:168:771584
Study programmeTitle: 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 resourceText
File originBorn digital
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Created on2023-01-13 15:35:29