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master's thesis
Algoritmi planiranja glatke putanje autonomnih mobilnih robota
Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing, 2020. urn:nbn:hr:168:106686
Brkić, Iva
University of Zagreb
Faculty of Electrical Engineering and Computing

Institutional repository: FER Repository

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Brkić, I. (2020). Algoritmi planiranja glatke putanje autonomnih mobilnih robota (Master's thesis). Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing. Retrieved from https://urn.nsk.hr/urn:nbn:hr:168:106686

Brkić, Iva. "Algoritmi planiranja glatke putanje autonomnih mobilnih robota." Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, 2020. https://urn.nsk.hr/urn:nbn:hr:168:106686

Brkić, Iva. "Algoritmi planiranja glatke putanje autonomnih mobilnih robota." Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, 2020. https://urn.nsk.hr/urn:nbn:hr:168:106686

Brkić, I. (2020). 'Algoritmi planiranja glatke putanje autonomnih mobilnih robota', Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, accessed 09 August 2024, https://urn.nsk.hr/urn:nbn:hr:168:106686

Brkić I. Algoritmi planiranja glatke putanje autonomnih mobilnih robota [Master's thesis]. Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing; 2020 [cited 2024 August 09] Available at: https://urn.nsk.hr/urn:nbn:hr:168:106686

I. Brkić, "Algoritmi planiranja glatke putanje autonomnih mobilnih robota", Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, Zagreb, 2020. Available at: https://urn.nsk.hr/urn:nbn:hr:168:106686

Metadata
TitleAlgoritmi planiranja glatke putanje autonomnih mobilnih robota
Title (english)Smooth path planning algorithms of autonomous mobile robots
AuthorIva Brkić
MentorMarija Seder (mentor)
Committee memberMarija Seder (predsjednik povjerenstva)
Committee memberIvan Petrović (član povjerenstva)
Committee memberIvan Marković (član povjerenstva)
GranterUniversity of Zagreb
Faculty of Electrical Engineering and Computing
Zagreb
Defense date and country2020-07-10, Croatia
Scientific / art field,
discipline and subdiscipline		TECHNICAL SCIENCES
Electrical Engineering
Abstract
Izgraditi robota koji bi imao sposobnost sam se gibati svojom okolinom, odnosno autonomnog mobilnog robota, bio je cilj sve otkako se počelo razvijati područje robotike. Autonomno gibanje mobilnih robota jedan je od temeljnih i najtežih problema u robotici. Kako bi se to ostvarilo, potrebno je isplanirati putanju od početne do ciljne točke u okolini bez sudara s preprekama. Dva su osnovna pristupa za planiranje putanje. Prvi predstavlja metode zasnovane na diskretizaciji prostora i njegovu pretraživanju uz korištenje nekog algoritma za pretraživanje grafova. Drugi pristup predstavljaju metode zasnovane na uzorkovanju ostvarivih trajektorija i njihovu pretraživanju. Zadatak je ovog diplomskog rada analizirati i usporediti određene algoritme za oba pristupa planiranju putanje prema parametrima poput vremena izvođenja algoritma i duljini dobivenih putanja.
Abstract (english)
Building a robot with the ability to move around on its own, i.e. an autonomous mobile robot, has been a goal ever since the field of robotics began to develop. The autonomous motion of mobile robots is one of the fundamental and most difficult problems in robotics. In order to achieve this, it is necessary to plan a route from the starting point to the finish point in the environment without colliding with obstacles. There are two basic approaches to route planning. The first presents methods based on the discretization of space and its search using a graph search algorithm. Another approach are methods based on sampling achievable trajectories and searching for them. The task of this thesis is to analyze and compare certain algorithms for both approaches to route planning according to parameters such as algorithm execution time and length of obtained paths.
Keywords
Keywords (english)
Languagecroatian
URN:NBNurn:nbn:hr:168:106686
Study programmeTitle: Electrical Engineering and Information Technology
Study programme type: university
Study level: graduate
Academic / professional title: magistar/magistra inženjer/inženjerka elektrotehnike i informacijske tehnologije (magistar/magistra inženjer/inženjerka elektrotehnike i informacijske tehnologije)
Type of resourceText
File originBorn digital
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Created on2023-01-13 11:53:41