Physical simulators for the analysis of robotic systems

U ovom radu predstavljena je razlika između fizikalnih simulatora otvorenog koda i komercijalnih simulatora. Napravljena je usporedna analiza te su opisane prednosti i mane pojedinih fizikalnih simulatora. Nadalje, u drugom dijelu rada su izvedeni modeli robota pokretanog kotačima i robota pokretanog nogama u PyBullet simulatoru te su za navedene modele napisani programski kodovi za kretanje robota u fizičkom simulatoru s naglaskom na praćenje linije, izbjegavanje prepreka i na problem simulacije hoda robota pokretanog dvjema nogama.This thesis explains the difference between open source physics simulators and commercial simulators. A comparative analysis was made and the advantages and disadvantages of individual physical simulators were described. Furthermore, in the second part of the thesis, the models of the wheel-driven robot and the foot-driven robot were derived in the physics simulator PyBullet, and the codes for the movement of the robot in the physical simulator were written for the mentioned models with an emphasis on line tracking, obstacle avoidance and also solving the problem of simulating the walk of a two-legged robot