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undergraduate thesis
Planiranje putanje dvaju mobilnih robota za zajednički prijevoz tereta
Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing, 2024. urn:nbn:hr:168:482576
Canjuga, Fran
University of Zagreb
Faculty of Electrical Engineering and Computing

Institutional repository: FER Repository

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Canjuga, F. (2024). Planiranje putanje dvaju mobilnih robota za zajednički prijevoz tereta (Undergraduate thesis). Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing. Retrieved from https://urn.nsk.hr/urn:nbn:hr:168:482576

Canjuga, Fran. "Planiranje putanje dvaju mobilnih robota za zajednički prijevoz tereta." Undergraduate thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, 2024. https://urn.nsk.hr/urn:nbn:hr:168:482576

Canjuga, Fran. "Planiranje putanje dvaju mobilnih robota za zajednički prijevoz tereta." Undergraduate thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, 2024. https://urn.nsk.hr/urn:nbn:hr:168:482576

Canjuga, F. (2024). 'Planiranje putanje dvaju mobilnih robota za zajednički prijevoz tereta', Undergraduate thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, accessed 27 December 2024, https://urn.nsk.hr/urn:nbn:hr:168:482576

Canjuga F. Planiranje putanje dvaju mobilnih robota za zajednički prijevoz tereta [Undergraduate thesis]. Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing; 2024 [cited 2024 December 27] Available at: https://urn.nsk.hr/urn:nbn:hr:168:482576

F. Canjuga, "Planiranje putanje dvaju mobilnih robota za zajednički prijevoz tereta", Undergraduate thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, Zagreb, 2024. Available at: https://urn.nsk.hr/urn:nbn:hr:168:482576

Metadata
TitlePlaniranje putanje dvaju mobilnih robota za zajednički prijevoz tereta
Title (english)Path planning of two mobile robots for joint transportation of large objects
AuthorFran Canjuga
MentorIvan Marković (mentor)
Committee memberIvan Marković (član povjerenstva)
Committee memberJelena Gregorić (član povjerenstva)
Committee memberVlaho-Josip Štironja (član povjerenstva)
GranterUniversity of Zagreb
Faculty of Electrical Engineering and Computing
Zagreb
Defense date and country2024-07-05, 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
Keywords (english)
Languagecroatian
URN:NBNurn:nbn:hr:168:482576
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 on2024-10-12 20:15:45