| Abstract [eng] |
Nowadays mobile autonomous robots can be employed in many different fields. Most of them are used in production or warehouses, and those more sophisticated can even be used for research of terrain on other planets. For motion, orientation among obstacles and reaching a target point, mobile autonomous robots use algorithms. New algorithms that are being created for a various specific tasks usually use classical algorithms as a base, which is later modified. Because of these reasons, aim of the masters final project is to create a program for a mobile autonomous robot, to avoid obstacles and reach a target point in static environment. After analysis of the algorithms used for optimal path planning was conducted, two best algorithms were chosen for a further analysis. Two chosen algorithms were programmed, and compared against each other for the ability to find path, average length of the path, and the number of turns in the path. After this test, recommendation for the use of better algorithm is provided. Best algorithm is chosen for a robot to be programmed. Program for the control of the mobile autonomous Arduino robot was created. Experiment for the robot, driving the same path 10 times was conducted. Robot was measured against time and steps needed to complete the path. Frequency of communication was calculated. Factors that had influence on the experiment results were presented. |
