Development of path-planning algorithm of a mobile robot

Ovaj rad bavi se razvojem upravljačkog algoritma za autonomnu navigaciju i praćenje cilja kroz nepoznati prostor s preprekama. U prvom dijelu rada dan je osnovni pregled robotike, mobilnih robota i problema vezanih uz njihov razvoj. Drugi dio rada opisuje hardverske i softverske platforme korištene za razvoj upravljačkog algoritma. Treći dio rada objašnjava principe rada upravljačkog algoritma, metodu izbjegavanja prepreka, i daje detaljan opis programskog koda algoritma za kalibraciju HSV parametara i projektiranog upravljačkog algoritma. U zadnjem poglavlju dani su rezultati testiranja upravljačkoga algoritma na simulaciji i testu izvršenom pomoću Pioneer 2 mobilnog robota.This paper deals with development of control algorithm for autonomous navigation and target tracking through unidentified space with obstacles. In the first part of the paper a basic overview of robotics, mobile robots and problems associated with their development is given. The second part describes the hardware and software platforms used for the development of the control algorithm. The third part of the paper explains the basic working principles of the developed control algorithm, it gives a brief overview of the method used for avoiding obstacles, and then explains in detail the source code of the algorithm for calibration of HSV parameters and the source code of the developed control algorithm. In the last chapter testing methods of the control algorithm and the obtained results are provided