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undergraduate thesis
Koordinacija vozila planiranjem putanja korištenjem OMPL biblioteke
Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing, 2015. urn:nbn:hr:168:594911
Varnica, Ivan
University of Zagreb
Faculty of Electrical Engineering and Computing

Institutional repository: FER Repository

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Varnica, I. (2015). Koordinacija vozila planiranjem putanja korištenjem OMPL biblioteke (Undergraduate thesis). Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing. Retrieved from https://urn.nsk.hr/urn:nbn:hr:168:594911

Varnica, Ivan. "Koordinacija vozila planiranjem putanja korištenjem OMPL biblioteke." Undergraduate thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, 2015. https://urn.nsk.hr/urn:nbn:hr:168:594911

Varnica, Ivan. "Koordinacija vozila planiranjem putanja korištenjem OMPL biblioteke." Undergraduate thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, 2015. https://urn.nsk.hr/urn:nbn:hr:168:594911

Varnica, I. (2015). 'Koordinacija vozila planiranjem putanja korištenjem OMPL biblioteke', Undergraduate thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, accessed 30 June 2024, https://urn.nsk.hr/urn:nbn:hr:168:594911

Varnica I. Koordinacija vozila planiranjem putanja korištenjem OMPL biblioteke [Undergraduate thesis]. Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing; 2015 [cited 2024 June 30] Available at: https://urn.nsk.hr/urn:nbn:hr:168:594911

I. Varnica, "Koordinacija vozila planiranjem putanja korištenjem OMPL biblioteke", Undergraduate thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, Zagreb, 2015. Available at: https://urn.nsk.hr/urn:nbn:hr:168:594911

Metadata
TitleKoordinacija vozila planiranjem putanja korištenjem OMPL biblioteke
Title (english)Vehicles Coordination based on Path Planning using OMPL Library
AuthorIvan Varnica
MentorZdenko Kovačić (mentor)
Committee memberZdenko Kovačić (predsjednik povjerenstva)
Committee memberTamara Petrović (član povjerenstva)
Committee memberGoran Vasiljević (član povjerenstva)
GranterUniversity of Zagreb
Faculty of Electrical Engineering and Computing
Zagreb
Defense date and country2015-07-13, Croatia
Scientific / art field,
discipline and subdiscipline		TECHNICAL SCIENCES
Electrical Engineering
Abstract
U ovome radu planiraju se putanje za kretanje vozila korištenjem OMPL paketa za planiranje putanja. Algoritam planiranja je RRTstar koji u prostoru vozila gradi stablo nasumičnih uzoraka putem kojeg se povezuju ishodište i odredište te se bira konačni put. Moguće je istovremeno planiranje puta više vozila uz međusobno izbjegavanje vozila i izbjegavanje prepreka. Putanje su testirane na Pioneer 3-DX robotu unutar Gazebo simulatora.
Abstract (english)
In this paper vehicle trajectories are planned using the OMPL package for trajectory planning. Planning algorithm is RRTstar which builds a random state tree in vehicle space which connects the start and goal point and chooses the final path. It is possible to plan trajectories for multiple vehicles simultaneously with other vehicles and obstacle avoidance. Trajectories are tested on Pioneer 3-DX robot in Gazebo simulator.
Keywords
Keywords (english)
Languagecroatian
URN:NBNurn:nbn:hr:168:594911
Study programmeTitle: Electrical Engineering and Information Technology
Study programme type: university
Study level: undergraduate
Academic / professional title: sveučilišni/a prvostupnik/ prvostupnica (baccalaureus/baccalaurea) inženjer/inženjerka elektrotehnike i informacijske tehnologije (sveučilišni/a prvostupnik/ prvostupnica (baccalaureus/baccalaurea) inženjer/inženjerka elektrotehnike i informacijske tehnologije)
Type of resourceText
File originBorn digital
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Created on2018-02-06 14:15:53