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master's thesis
Planiranje putanje mobilnog robota s teretom nepravilnog oblika
Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing, 2025. urn:nbn:hr:168:916932
Rusković, Ana
University of Zagreb
Faculty of Electrical Engineering and Computing

Institutional repository: FER Repository

Cite this document

Rusković, A. (2025). Planiranje putanje mobilnog robota s teretom nepravilnog oblika (Master's thesis). Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing. Retrieved from https://urn.nsk.hr/urn:nbn:hr:168:916932

Rusković, Ana. "Planiranje putanje mobilnog robota s teretom nepravilnog oblika." Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, 2025. https://urn.nsk.hr/urn:nbn:hr:168:916932

Rusković, Ana. "Planiranje putanje mobilnog robota s teretom nepravilnog oblika." Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, 2025. https://urn.nsk.hr/urn:nbn:hr:168:916932

Rusković, A. (2025). 'Planiranje putanje mobilnog robota s teretom nepravilnog oblika', Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, accessed 27 March 2025, https://urn.nsk.hr/urn:nbn:hr:168:916932

Rusković A. Planiranje putanje mobilnog robota s teretom nepravilnog oblika [Master's thesis]. Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing; 2025 [cited 2025 March 27] Available at: https://urn.nsk.hr/urn:nbn:hr:168:916932

A. Rusković, "Planiranje putanje mobilnog robota s teretom nepravilnog oblika", Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, Zagreb, 2025. Available at: https://urn.nsk.hr/urn:nbn:hr:168:916932

Metadata
TitlePlaniranje putanje mobilnog robota s teretom nepravilnog oblika
Title (english)Path planning of mobile robots carrying any-shape weights
AuthorAna Rusković
MentorMarija Seder (mentor)
Committee memberIvan Marković (član povjerenstva)
Committee memberLuka Petrović (član povjerenstva)
Committee memberIvan Petrović (član povjerenstva)
GranterUniversity of Zagreb
Faculty of Electrical Engineering and Computing
Zagreb
Defense date and country2025-02-25, Croatia
Abstract
Mobilni roboti postali su neizostavan dio svakodnevice sa zadaćom autonomne navigacije u složenim okruženjima. Nepravilan oblik tereta kojeg roboti nose može značajno utjecati na njihovo kretanje i planiranje putanje. Tradicionalni algoritmi, poput klasičnog A* algoritma, usmjereni su na minimiziranje cijene puta u pogledu udaljenosti, ali ne uzimaju u obzir orijentaciju robota. Ovaj diplomski rad predlaže prilagodbu A* algoritma uzimajući u obzir orijentaciju robota prilikom planiranja... More putanje, optimizirajući vrijeme i cijenu navigacije. Provedene su simulacije kako bi se procijenila izvedba predloženog algoritma, a rezultati su pokazali da su roboti s pravilnim oblicima opterećenja imali najbolje rezultate u pogledu vremenske učinkovitosti. Međutim, prilagođeni A* algoritam dao je minimalne troškove putanje kod tereta s nepravilnim oblikom u složenim okruženjima. Ovaj rad prikazuje važnost kompromisa između različitih strategija planiranja putanje i pruža uvid u optimizaciju navigacije robota u različitim uvjetima. Less
Abstract (english)
Mobile robots have become an indispensable part of of everyday life with the task of autonomous navigation in complex environments. The irregular shape of the load carried by the robots can significantly affect their movement and path planning. Traditional algorithms, such as the classic A* algorithm, focus on minimizing the path cost in terms of distance, but do not take into account the orientation of the robot. This thesis proposes an adaptation of the A* algorithm to take into... More account the orientation of the robot when planning the path, optimizing the time and cost of navigation. Simulations were conducted to evaluate the performance of the proposed algorithm, and the results showed that robots with regular load shapes had the best results in terms of time efficiency. However, the adapted A* algorithm gave the minimum path cost for irregularly shaped loads in complex environments. This paper shows the importance of trade-offs between different path planning strategies and provides insight into optimizing robot navigation under different conditions. Less
Keywords
Keywords (english)
Languagecroatian
URN:NBNurn:nbn:hr:168:916932
Study programmeTitle: Information and Communication Technology
Study programme type: university
Study level: graduate
Academic / professional title: magistar/magistra inženjer/inženjerka informacijske i komunikacijske tehnologije (magistar/magistra inženjer/inženjerka informacijske i komunikacijske tehnologije)
Type of resourceText
File originBorn digital
Access conditionsOpen access
Terms of useLicence In copyright icon
Public note
Created on2025-03-12 11:17:58
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