| Popis: |
U radu je opisana svesmjerna mobilna platforma s četiri švedska kotača koji omogućuju gibanje platforme u svim smjerovima. Primijenjen je algoritam za glatko gibanje svesmjerne platforme u dinamičkim prostorima ostvaren primjenom klotoida. Također je primijenjen i dvosmjerni D* algoritam za planiranje puta. Platforma usporava kada prolazi blizu dinamičke prepreke te korištenjem dvosmjernog D* algoritma ponovno planira put koji zaobilazi prepreku. Učitan je model skladišta u simulatoru Gazebo s tri stanice koje platforma redom posjećuje i vraća se na početnu poziciju. U model skladišta je učitan model svesmjerne mobilne platforme te dinamičke prepreke koja je također robot. Testirani su algoritmi u simulatoru Gazebo pod Robotskim operacijskim sustavom. This thesis describes omnidirectional mobile platform with four Swedish wheels that allow the platform to move in all directions. The algorithm for smooth motion of an omnidirectional platform in dynamic environments achieved by the application of clothoids was applied. The two-way D* algorithm for path planning was also applied. The platform slows down when passing a dynamic obstacle, and using two-way D* algorithm, replans the path that bypasses the obstacle. The warehouse model with three stops which the platform visits in order, and returns to the starting position, was loaded in the simulator Gazebo. The models of an omnidirectional platform and a dynamic obstacle, which is also a robot, were loaded into the warehouse model. Algorithms were tested in the Gazebo simulator under the Robot Operating System. |
