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master's thesis
Pretraživanje unutarnjeg prostora i planiranje optimalne putanje mobilnog robota
2019. urn:nbn:hr:190:635330
Jelačić, Bruno
University of Rijeka
Faculty of Engineering
Department of Automation and Electronics
Section of Electronics, Robotics and Automation

Cite this document

Jelačić, B. (2019). Pretraživanje unutarnjeg prostora i planiranje optimalne putanje mobilnog robota (Master's thesis). Rijeka: University of Rijeka, Faculty of Engineering. Retrieved from https://urn.nsk.hr/urn:nbn:hr:190:635330

Jelačić, Bruno. "Pretraživanje unutarnjeg prostora i planiranje optimalne putanje mobilnog robota." Master's thesis, University of Rijeka, Faculty of Engineering, 2019. https://urn.nsk.hr/urn:nbn:hr:190:635330

Jelačić, Bruno. "Pretraživanje unutarnjeg prostora i planiranje optimalne putanje mobilnog robota." Master's thesis, University of Rijeka, Faculty of Engineering, 2019. https://urn.nsk.hr/urn:nbn:hr:190:635330

Jelačić, B. (2019). 'Pretraživanje unutarnjeg prostora i planiranje optimalne putanje mobilnog robota', Master's thesis, University of Rijeka, Faculty of Engineering, accessed 19 December 2024, https://urn.nsk.hr/urn:nbn:hr:190:635330

Jelačić B. Pretraživanje unutarnjeg prostora i planiranje optimalne putanje mobilnog robota [Master's thesis]. Rijeka: University of Rijeka, Faculty of Engineering; 2019 [cited 2024 December 19] Available at: https://urn.nsk.hr/urn:nbn:hr:190:635330

B. Jelačić, "Pretraživanje unutarnjeg prostora i planiranje optimalne putanje mobilnog robota", Master's thesis, University of Rijeka, Faculty of Engineering, Rijeka, 2019. Available at: https://urn.nsk.hr/urn:nbn:hr:190:635330

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Metadata
TitlePretraživanje unutarnjeg prostora i planiranje optimalne putanje mobilnog robota
Title (english)Indoor space search and optimal trajectory planning for mobile robot
AuthorBruno Jelačić
MentorZlatan Car (mentor)
Committee memberViktor Sučić (predsjednik povjerenstva)
Committee memberLivio Šušnjić (član povjerenstva)
Committee memberBranka Dobraš (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 je obrađena tema izrade mobilnog robota i razvoja algoritama za izgradnju mape i planiranje optimalne putanje koji su zatim testirani u stvarnom svijetu. Mobilni robot je izgrađen oko Arduino platforme. Opisani su mobilni roboti uz naglasak na zadatak navigacije. Zatim je napravljena podjela senzora koji se koriste u mobilnoj robotici. Ultrazvučni senzor, koji je korišten u mobilnom robotu, detaljno je objašnjen. Također su navedeni i opisani dijelovi sastavljenog robota. Kasnije su izneseni detalji o izgradnji mape i planiranju putanje. U sklopu toga su opisani korišteni algoritam za izgradnju mape te A* algoritam za planiranje. Upravljački algoritmi su pisani u Python programskom jeziku na računalu. Komunikacija računala i robota je ostvarena bluetooth protokolom. Izvršne funkcije robota pisane su u Arduino IDE softveru. Na kraju su prikazani rezultati eksperimenta. Robot je postavljen u pravokutni prostor s preprekama. Prostor je podijeljen u ćelije.
Abstract (english)
The process of building a mobile robot is described in this thesis, as well as developing algorithms for map building and path planning. The algorithms are later tested in a real world environment. The robot is built around an Arduino board. Mobile robots are described with an emphasis on navigation. Then, the sensors used in mobile robotics are classified. Ultrasonic sensor, used in the built robot, is described in detail. Parts of the built robot are also depicted. Details about map building and path planning are brought out. As a part of that, an algorithm for map building and the A* algorithm for planning are described. Communication between the computer and the robot is achieved through bluetooth. Executive functions of the robot are written in the Arduino IDE software. The results of the experiment are shown at the end. The robot is placed in a perpendicular space with obstacles. The space is split into cells.
Keywords
Keywords (english)
Languagecroatian
URN:NBNurn:nbn:hr:190:635330
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 on2019-07-12 06:55:56