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undergraduate thesis
Planiranje gibanja mobilnog robota u simuliranom okruženju
Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing, 2022. urn:nbn:hr:168:822072
Filipović, Ivan
University of Zagreb
Faculty of Electrical Engineering and Computing

Institutional repository: FER Repository

Cite this document

Filipović, I. (2022). Planiranje gibanja mobilnog robota u simuliranom okruženju (Undergraduate thesis). Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing. Retrieved from https://urn.nsk.hr/urn:nbn:hr:168:822072

Filipović, Ivan. "Planiranje gibanja mobilnog robota u simuliranom okruženju." Undergraduate thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, 2022. https://urn.nsk.hr/urn:nbn:hr:168:822072

Filipović, Ivan. "Planiranje gibanja mobilnog robota u simuliranom okruženju." Undergraduate thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, 2022. https://urn.nsk.hr/urn:nbn:hr:168:822072

Filipović, I. (2022). 'Planiranje gibanja mobilnog robota u simuliranom okruženju', Undergraduate thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, accessed 25 November 2024, https://urn.nsk.hr/urn:nbn:hr:168:822072

Filipović I. Planiranje gibanja mobilnog robota u simuliranom okruženju [Undergraduate thesis]. Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing; 2022 [cited 2024 November 25] Available at: https://urn.nsk.hr/urn:nbn:hr:168:822072

I. Filipović, "Planiranje gibanja mobilnog robota u simuliranom okruženju", Undergraduate thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, Zagreb, 2022. Available at: https://urn.nsk.hr/urn:nbn:hr:168:822072

Metadata
TitlePlaniranje gibanja mobilnog robota u simuliranom okruženju
Title (english)Mobile robot path planning in simulated environment
AuthorIvan Filipović
MentorIvan Marković (mentor)
Committee memberIvan Marković (član povjerenstva)
Committee memberBorna Bićanić (član povjerenstva)
Committee memberLuka 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
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
Keywords (english)
Languagecroatian
URN:NBNurn:nbn:hr:168:822072
Study programmeTitle: 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 resourceText
File originBorn digital
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Created on2023-01-15 10:07:31