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master's thesis
Izrada algoritma za planiranje trajektorije uz izbjegavanje prepreka kod mobilnog robota
Rijeka: University of Rijeka, Faculty of Engineering, 2019. urn:nbn:hr:190:949174
Durmić, Edi
University of Rijeka
Faculty of Engineering
Department of Automation and Electronics
Section of Electronics, Robotics and Automation

Institutional repository: Repository of the University of Rijeka, Faculty of Engineering

Cite this document

Durmić, E. (2019). Izrada algoritma za planiranje trajektorije uz izbjegavanje prepreka kod mobilnog robota (Master's thesis). Rijeka: University of Rijeka, Faculty of Engineering. Retrieved from https://urn.nsk.hr/urn:nbn:hr:190:949174

Durmić, Edi. "Izrada algoritma za planiranje trajektorije uz izbjegavanje prepreka kod mobilnog robota." Master's thesis, University of Rijeka, Faculty of Engineering, 2019. https://urn.nsk.hr/urn:nbn:hr:190:949174

Durmić, Edi. "Izrada algoritma za planiranje trajektorije uz izbjegavanje prepreka kod mobilnog robota." Master's thesis, University of Rijeka, Faculty of Engineering, 2019. https://urn.nsk.hr/urn:nbn:hr:190:949174

Durmić, E. (2019). 'Izrada algoritma za planiranje trajektorije uz izbjegavanje prepreka kod mobilnog robota', Master's thesis, University of Rijeka, Faculty of Engineering, accessed 10 November 2024, https://urn.nsk.hr/urn:nbn:hr:190:949174

Durmić E. Izrada algoritma za planiranje trajektorije uz izbjegavanje prepreka kod mobilnog robota [Master's thesis]. Rijeka: University of Rijeka, Faculty of Engineering; 2019 [cited 2024 November 10] Available at: https://urn.nsk.hr/urn:nbn:hr:190:949174

E. Durmić, "Izrada algoritma za planiranje trajektorije uz izbjegavanje prepreka kod mobilnog robota", Master's thesis, University of Rijeka, Faculty of Engineering, Rijeka, 2019. Available at: https://urn.nsk.hr/urn:nbn:hr:190:949174

Metadata
TitleIzrada algoritma za planiranje trajektorije uz izbjegavanje prepreka kod mobilnog robota
Title (english)Development of Algorithm for Trajectory Planning with Obstacle Avoidance for Mobile Robot
AuthorEdi Durmić
MentorZlatan Car (mentor)
Committee memberViktor Sučić (predsjednik povjerenstva)
Committee memberLivio Šušnjić (član povjerenstva)
Committee memberAndrea Andrijašević (član povjerenstva)
GranterUniversity of Rijeka
Faculty of Engineering
(Department of Automation and Electronics)
(Section of Electronics, Robotics and Automation)
Rijeka
Defense date and country2019-06-04, Croatia
Scientific / art field,
discipline and subdiscipline		TECHNICAL SCIENCES
Electrical Engineering
Abstract
Kroz ovaj diplomski rad opisana je izrada mobilnog robota koji primjenom umjetne inteligencije pronalazi optimalnu trajektoriju u svrhu dolaska na cilj, pritom izbjegavajući prepreke. Opisana je izrada komunikacije za povezivanje mobilnog robota sa ureĎajima na lokalnoj mreţi. Opisan je proces pozicioniranja mobilnog robota uporabom ultrazvučnog senzora i kompasa. Upravljački sustav mobilnog robota izgraĎen je uporabom Arduino platforme. Opisana je mobilna robotika sa naglaskom na podsustave potrebne za njegov rad. Detaljno su opisane sve komponente korištene pri izradi mobilnog robota. Opisano je područje umjetne inteligencije. Detaljno su opisane vrste učenja algoritama koji koriste umjetnu inteligenciju s naglaskom na Q-learning algoritam. Zatim je opisana izrada Q-learning algoritma, izrada sustava komunikacije za povezivanje mobilnog robota sa ureĎajima putem lokalne mreţe i izrada sustava za lokomociju mobilnog robota. Na kraju je izvršeno testiranje mobilnog robota i Q-learning algoritma. Testiranje je izvršeno na kvadratnom prostoru, a rezultati testiranja su opisani.
Abstract (english)
This thesis suggests a method to build a mobile robot that uses artificial intelligence to find an optimal trajectory for the purpose of reaching the goal while avoiding obstacles. The thesis describes establishing the connection between a mobile robot and devices that use local area network. It also describes the process of positioning of a mobile robot using ultrasonic sensor and a compass. Control system was designed using Arduino platform. The thesis gives a general description of mobile robotics with emphasis on subsystems needed for it to work. This is followed with detailed description of each component used to build a mobile robot. The area of artificial intelligence was described. This is followed with a detailed description of types of learning with emphasis on Q-learning algorithm. Next, the description of designing the Q-learning algorithm, designing a system of communication used to connect a mobile robot to devices using local area network and designing of the system used for locomotion of the mobile robot. Finally, the mobile robot was tested, along with Q-learning algorithm. The test was done on square space. The results of the test were described.
Keywords
Keywords (english)
Languagecroatian
URN:NBNurn:nbn:hr:190:949174
Study programmeTitle: Electrical Engineering
Study programme type: university
Study level: graduate
Academic / professional title: magistar/magistra inženjer/inženjerka elektrotehnike (magistar/magistra inženjer/inženjerka elektrotehnike)
Type of resourceText
File originBorn digital
Access conditionsAccess restricted to students and staff of home institution
Terms of useLicence In copyright icon
Created on2019-06-18 07:57:48