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master's thesis
Planiranje trajektorija gibanja više vozila na cestama i križanjima
Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing, 2022. urn:nbn:hr:168:842050
Bašić, Ante
University of Zagreb
Faculty of Electrical Engineering and Computing

Institutional repository: FER Repository

Cite this document

Bašić, A. (2022). Planiranje trajektorija gibanja više vozila na cestama i križanjima (Master's thesis). Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing. Retrieved from https://urn.nsk.hr/urn:nbn:hr:168:842050

Bašić, Ante. "Planiranje trajektorija gibanja više vozila na cestama i križanjima." Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, 2022. https://urn.nsk.hr/urn:nbn:hr:168:842050

Bašić, Ante. "Planiranje trajektorija gibanja više vozila na cestama i križanjima." Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, 2022. https://urn.nsk.hr/urn:nbn:hr:168:842050

Bašić, A. (2022). 'Planiranje trajektorija gibanja više vozila na cestama i križanjima', Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, accessed 12 July 2024, https://urn.nsk.hr/urn:nbn:hr:168:842050

Bašić A. Planiranje trajektorija gibanja više vozila na cestama i križanjima [Master's thesis]. Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing; 2022 [cited 2024 July 12] Available at: https://urn.nsk.hr/urn:nbn:hr:168:842050

A. Bašić, "Planiranje trajektorija gibanja više vozila na cestama i križanjima", Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, Zagreb, 2022. Available at: https://urn.nsk.hr/urn:nbn:hr:168:842050

Metadata
TitlePlaniranje trajektorija gibanja više vozila na cestama i križanjima
Title (english)Multi vehicle trajectory planning on roads and crossings
AuthorAnte Bašić
MentorMarija Seder (mentor)
Committee memberMarija Seder (član povjerenstva)
Committee memberIvan Petrović (član povjerenstva)
Committee memberJuraj Peršić (član povjerenstva)
GranterUniversity of Zagreb
Faculty of Electrical Engineering and Computing
Zagreb
Defense date and country2022-07-12, Croatia
Scientific / art field,
discipline and subdiscipline		TECHNICAL SCIENCES
Computing
Abstract
U ovom radu opisan je algoritam planiranja trajektorije zasnovan na A* algoritmu koji može koristiti za nadopunjavanje dijelova trajektorije koji nedostaju u podacima. Kompletna i realistična trajektorija vozila u scenariju važna je za pravilno testiranje i validaciju sustava autonomnih vozila. Za izračun mogućih budućih pozicija vozila u vremenu korišten je kinematički bicikl model. Generirana trajektorija sastoji se od podataka o poziciji, brzini i orijentaciji vozila u svakom trenutku. Algoritam je testiran na stvarnim podacima iz projekta NGSIM i podataka generiranim u SUMO simulatoru na stvarnim cestama i križanjima.
Abstract (english)
This thesis describes a trajectory planning algorithm based on the A* algorithm which can be used to generate missing parts of the trajectory data. Complete and realistic vehicle trajectory in the scenario is important for proper testing and validation of autonomous vehicle systems. A kinematic bicycle model was used to calculate future states of the vehicle over time. The generated trajectory consists of position, velocity and orientation of the vehicle. The algorithm was tested on real data from the NGSIM project and data generated in the SUMO simulator with real roads and intersections.
Keywords
Keywords (english)
Languagecroatian
URN:NBNurn:nbn:hr:168:842050
Study programmeTitle: Computing
Study programme type: university
Study level: graduate
Academic / professional title: magistar/magistra inženjer/inženjerka računarstva (magistar/magistra inženjer/inženjerka računarstva)
Type of resourceText
File originBorn digital
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Created on2023-01-14 08:25:23