Planiranje gladke poti mobilnega vozila z uporabo hibridnega algoritma A*

VODNIK, DAVID (author), Klančar, Gregor (mentor)

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.

• Language: Slovenian
• Keywords: iskanje poti, hibridni algoritem A*, mobilni robot, Ackermann model
• Work type: Undergraduate thesis
• Organization: FE - Faculty of Electrical Engineering
• Year: 2016
• PID: 20.500.12556/RUL-84928
• Publication date in RUL: 08.09.2016

Secondary language

• Language: English
• Title: Smooth path planning for mobile robot using hybrid algorithm A*

Abstract

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.

• Keywords: pathfinding, hybrid A* algorithm, mobile robot, Ackermann model