20.500.12556/RUL-84928 Planiranje gladke poti mobilnega vozila z uporabo hibridnega algoritma A* Smooth path planning for mobile robot using hybrid algorithm A* Delo opisuje implementacijo hibridnega A* algoritma za iskanje gladke poti mobilnega vozila. Cilj je bil poiskati in uspešno prevoziti pot, ki zadosti neholonomičnim omejitvam realnega vozila v prostoru obdanem z ovirami. Izdelana je bila simulacija v programskem okolju Unity, ki je pogosto uporabljeno za izdelavo računalniskih iger in omogoča dobro vizualizacijo sledenja poti mobilnega vozila. Simulacija vsebuje primer realnega prostora z ovirami, med katerimi se mora vozilo prebiti od začetne do ciljne pozicije. Izdelana je bila preprosta simulacija laserskega senzorja za kartiranje okolja, Ackermannov model vozila, hibridno A* iskanje in vodenje vozila po dobljeni poti. The thesis describes the implementation of the hybrid A* algorithm with the aim of finding a smooth path in an obstacle dense environment. The goal was to find and successfully folow a path that meets the nonholonomic restrictions of a real vehicle. A simulation was developed in the Unity framework that is often used in game development and allows for a good visualization of mobile vehicle path following. The simulation consists of an example of a space with obstacles among which the vehicle has to travel from a start to a goal location. A simple laserscanner simulation was developed for mapping the environment, an Ackermann vehicle model, hybrid A* search and path following. iskanje poti hibridni algoritem A* mobilni robot Ackermann model pathfinding hybrid A* algorithm mobile robot Ackermann model true false false Slovenski jezik Angleški jezik Diplomsko delo 2016-09-08 14:50:04 2016-09-08 14:50:05 2022-08-02 06:40:09 0000-00-00 00:00:00 2016 0 0 0000-00-00 NiDoloceno NiDoloceno NiDoloceno 0000-00-00 0000-00-00 0000-00-00 1970-01-01 34482 Vodnik_David_-_Planiranje_gladke_poti_mobilnega_vozila_z_uporabo_hibridnega_algoritma_A-.pdf Vodnik_David_-_Planiranje_gladke_poti_mobilnega_vozila_z_uporabo_hibridnega_algoritma_A-.pdf 1 1EE1B97FB0DA150999CFC0E1E83657FD 530a9d2db0df0a2d2e4248d37cb98c63bfbc363b3c4c2d2751adbeeffc051789 ef3e7260-a1b0-11eb-a523-00155dcfd717 20.500.12556/rul/4d62dc5b-dcbc-4559-beba-9e092de56176 https://repozitorij.uni-lj.si/Dokument.php?lang=slv&id=88046 Fakulteta za elektrotehniko 0 0 0