Predvidljivo načrtovanje gibanja

diplomsko delo

Maks Jagodič (Author), Petar Pavešić (Mentor)

Abstract

Diplomska naloga obravnava problem načrtovanja poti za mobilne robote, pri čemer je poseben poudarek na predvidljivosti gibanja. Ta lastnost omogoča boljšo varnost in koordinacijo večih robotov. Predlagan je nov iterativni algoritem PingPong*, ki načrtuje poti za dva robota hkrati, s sočasnim izogibanjem drugega robota. Algoritem je nadgrajen z različico OmejeniPingPong*, ki omogoča iskanje poti v omejenem prostoru z uporabo heuristike. V nalogi sem naredil tudi matematično analizo točk nezveznosti teh dveh algoritmov, predstavil sem tudi učinkovito metodo za njihovo detekcijo s postopnim ohlajanjem. Rezultati potrjujejo uporabnost algoritma. Zastavil sem tudi možnosti za nadaljnje izboljšave.

Keywords

gibanje;topologija;načrtovanje poti;načrtovanje gibanja;robotika;mobilni roboti;algoritmi;univerzitetni študij;diplomske naloge;

Data

Language:	Slovenian
Year of publishing:	2025
Typology:	2.11 - Undergraduate Thesis
Organization:	UL FRI - Faculty of Computer and Information Science
Publisher:	[M. Jagodič]
UDC:	004.896:007.52(043.2)
COBISS:	247439363
Views:	71
Downloads:	16
Average score:	0 (0 votes)
Metadata:

Other data

Secondary language:	English
Secondary title:	Predictable motion planing
Secondary abstract:	The thesis covers the problem of fiding a path planning algorithm for mobile robots, with a special emphasis on predictability of movement. This property enables better safety and coordination of multiple robots. A new iterative algorithm PingPong* is proposed, which plans a path for two robots simultaneously, while simultaneously avoiding the other robot. The algorithm is upgraded with the version OmejeniPingPong*, which allows for path finding in a limited space using heuristics. In the thesis, I also performed a mathematical analysis of the discontinuity points of these two algorithms, and I also proposed an efficient method for their detection with simulated annealing. The results confirm the usefulness of the algorithm. In the end I also proposed possibilities for further improvements.
Secondary keywords:	motion;topology;path planning;motion planning;robotics;mobile robots;algorithms;diploma;
Type (COBISS):	Bachelor thesis/paper
Study programme:	1000407
Thesis comment:	Univ. v Ljubljani, Fak. za računalništvo in informatiko
Pages:	1 spletni vir (1 datoteka PDF (27 str.))
ID:	27132398