Optimal path planning for unmanned aerial vehicle and mobile robot

Cilj ovog rada bio je ostvariti upravljanje bespilotnom letjelicom generiranjem trajektorije kroz više zadanih točaka. Algoritam za planiranje trajektorije implementiran je u ROS okruženju korištenjem programskog jezik Python, a trajektorije su testirane u Gazebo ROS simulatoru. Razmatrana je Ho-Cookova metoda generiranja trajektorije kao i planiranje trajektorije uz prostorna ograničenja. Zajednička misija bespilotne letjelice i mobilnog robota sastojala se od izbjegavanja prepreka u zadanom prostoru.The main concern of this thesis was to accomplish unmanned aerial vehicle control by generating trajectory through the multiple waypoints. Algorithm for trajectory planning is implemented in the ROS environment using Python. Trajectories are tested in the Gazebo ROS virtual environment. The Ho-Cook method is used to generate the trajectory as well as to plan a trajectory with respect to physical constraints of the area. Joint mission of unmanned aerial vehicle and mobile robot consists of avoiding obstacles in a given space