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undergraduate thesis
Brzorastuća slučajna stabla za planiranje gibanja vozila nalik automobilu
Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing, 2022. urn:nbn:hr:168:633344
Katić, Rebeka
University of Zagreb
Faculty of Electrical Engineering and Computing

Institutional repository: FER Repository

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Katić, R. (2022). Brzorastuća slučajna stabla za planiranje gibanja vozila nalik automobilu (Undergraduate thesis). Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing. Retrieved from https://urn.nsk.hr/urn:nbn:hr:168:633344

Katić, Rebeka. "Brzorastuća slučajna stabla za planiranje gibanja vozila nalik automobilu." Undergraduate thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, 2022. https://urn.nsk.hr/urn:nbn:hr:168:633344

Katić, Rebeka. "Brzorastuća slučajna stabla za planiranje gibanja vozila nalik automobilu." Undergraduate thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, 2022. https://urn.nsk.hr/urn:nbn:hr:168:633344

Katić, R. (2022). 'Brzorastuća slučajna stabla za planiranje gibanja vozila nalik automobilu', Undergraduate thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, accessed 25 November 2024, https://urn.nsk.hr/urn:nbn:hr:168:633344

Katić R. Brzorastuća slučajna stabla za planiranje gibanja vozila nalik automobilu [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:168:633344

R. Katić, "Brzorastuća slučajna stabla za planiranje gibanja vozila nalik automobilu", Undergraduate thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, Zagreb, 2022. Available at: https://urn.nsk.hr/urn:nbn:hr:168:633344

Metadata
TitleBrzorastuća slučajna stabla za planiranje gibanja vozila nalik automobilu
Title (english)Rapidly exploring random trees for motion planning of car-like vehicles
AuthorRebeka Katić
MentorMarija Seder (mentor)
Committee memberMarija Seder (član povjerenstva)
Committee memberJelena Gregorić (član povjerenstva)
Committee memberLuka Petrović (član povjerenstva)
GranterUniversity of Zagreb
Faculty of Electrical Engineering and Computing
Zagreb
Defense date and country2022-07-04, Croatia
Scientific / art field,
discipline and subdiscipline		TECHNICAL SCIENCES
Computing
Abstract
Ovaj rad bavi se implementacijom brzorastučih slučajnih stabala (eng.rapidly exploring random tree - RRT) na robota nalik automobilu. Zbog svoje efikasnosti u pretrazi prostora odabaran je Stable-Sparse RRT(SST) iz familiije RRT. Odlike takvih algoritama su pristranost prema neistraženim prostorima zbog čega se široko se koristi u autonomnom robotskom planiranju kretnje. Koristeći ROS (Robotic Operating System), Stage Simulator i ROS publishera izračuni algoritma su simulirani na robotu. Za uspješnu implementaciju problem bilo je potrebno prilagoditi mapu Stage Simulatoru i frekvencije objavljivanja brzina na /cmd_vel topic.
Abstract (english)
This paper deals with the implementation of rapid-growing random trees (RRT) on a car-like robot. Stable-Sparse RRT (SST) from the RRT family was chosen for its efficiency in space search. Features of such algorithms are bias towards unexplored spaces, which is why it is widely used in autonomous robotic motion planning. Using ROS (Robotic Operating System), Stage Simulator and ROS publisher the algorithm calculations were simulated on a robot. For successful implementation of the problem, it was necessary to adjust the Stage Simulator folder and the frequency of publishing speeds on the /cmd_vel topic.
Keywords
Keywords (english)
Languagecroatian
URN:NBNurn:nbn:hr:168:633344
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 10:30:17