Software package for optimal trajectory synthesis in mobile robotics

U ovom završnom radu dan je pregled nekih osnovnih pristupa problemu sinteze trajektorije gibanja u mobilnoj robotici. Navedene su klasifikacije načina rješavanja i pojedini, često korišteni, algoritmi koji se koriste u slučaju poznate, statične okoline. Nadalje je opisan algoritam odabran za rješavanje problema, Dijkstrin algoritam. Uz to su navedena i dodatna poboljšanja. Rad se nastavlja formulacijom problema genriranja trajektorija mobilnog robota i opisivanjem procesa rješavanja te se konačno prikazuje programski paket osmišljen za generiranje optimalne trajektorije s karakterističnim primjerima.In this bachelor thesis an overview of approaches to the problem of optimal trajectory synthesis is given. Solution classifications are presented, as well as several algorithms used in the case of a known, static enviroment. Thereafter the algorithm which is chosen to solve the problem in this thesis, Dijkstra's algorithm, is presented. In addition, further improvements of the algorithm are presented in the thesis. The thesis continues by formulating the problem of optimal trajectory generation for mobile robots and explaining the solution process. Finally the software package for optimal trajectory synthesis is shown together with several illustrative examples