Indoor space search and optimal trajectory planning for mobile robot

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.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