DEVELOPMENT OF SOFTWARE SUPPORT FOR RASPBERRY PI MOBILE PLATFORM INTENDED FOR SIMULATION OF AUTONOMOUS VEHICLE MOVEMENT

U ovom radu je obrađena tema modeliranja autonomnog vozila pomoću AlphaBot 2 mobilne platforme. Opisano je Raspberry Pi računalo te sama AlphaBot 2 mobilna platforma, njeni djelovi te način uspostave komunikacije udaljenog računala i mobilne platforme. Na temelju teorijske podloge rješenja, napisan je programski kod za rješavanje zadatka završnog rada. Udaljeno računalo prepoznaje objekte te računa udaljenost do istih nakon čega vraća povratnu informaciju mobilnoj platformi, a mobilna platforma interpretira tu povratnu informaciju na način koji je adekvatan. Također, mobilna platforma u sebi ima ugrađen ultrazvučni senzor pomoću kojeg može detektirati hoće li doći do kolizije s nekim objektom. Na samom kraju, dokumentirano je testiranje koje služi za donošenje zaključka.The motive of this undergraduate thesis is modelling an autonomous vehicle using the technology of a Raspberry Pi computer and AlphaBot 2 mobile platform for development with the help of a remote computer for more powerful computing. Both the Raspberry Pi computer and AlphaBot2 mobile platform are thoroughly described and the communication between both the remote computer and the mobile platform are also explained. Programming code written in Python neccesarry for achieving the goal of this finals article is also displayed and its function explained. In the end, the testings of the mobile platfrom were documented with explainations and example images for the goal of reaching a conclusion