{"id":42,"date":"2024-04-04T08:01:24","date_gmt":"2024-04-04T05:01:24","guid":{"rendered":"https:\/\/sisu.ut.ee\/rosak\/rajaplaanimine-ja-navigeerimine\/"},"modified":"2024-04-04T08:03:57","modified_gmt":"2024-04-04T05:03:57","slug":"rajaplaanimine-ja-navigeerimine","status":"publish","type":"page","link":"https:\/\/sisu.ut.ee\/rosak\/rajaplaanimine-ja-navigeerimine\/","title":{"rendered":"5. Rajaplaanimine ja navigeerimine"},"content":{"rendered":"<blockquote>\n<p>\n\t\t<strong>R\u00e4\u00e4gime rajaplaneerimisest.<\/strong>\n\t<\/p>\n<\/blockquote>\n<p>\n\t<img loading=\"lazy\" decoding=\"async\" width=\"574\" height=\"636\" class=\"alignnone wp-image-117\" src=\"https:\/\/sisu.ut.ee\/wp-content\/uploads\/sites\/560\/navigation.gif\" title=\"navigation.gif\" alt=\".\">\n<\/p>\n<p>\n\t<span id=\"docs-internal-guid-0cf4b887-7fff-8154-98ae-c9715b0672e9\">\u00dcks robotite peamisi \u00fclesandeid on liikuda. Rajaplaanimise eesm\u00e4rk on defineerida, kuidas liikuda l\u00e4htepunktist sihtkohta, v\u00f5ttes arvesse k\u00f5iki seonduvaid kitsendusi (nt roboti kinemaatika ja keskkonnas esinevad takistused). Tihtilugu on kaval jagada rajaplaanimine kaheks: globaalne ja lokaalne plaanimine.<\/span>\n<\/p>\n<p>\n\t<strong><span id=\"docs-internal-guid-eb466f44-7fff-cddf-6afe-d97d611790c8\">Globaalse plaanimise<\/span><\/strong><span> eesm\u00e4rk on k\u00f5ige alguses, kui robot veel liikuma pole hakanud, arvutada v\u00e4lja parim v\u00f5imalik teekond (koordinaatide j\u00e4rjestus) sihtpunkti. Ent kuna roboti rataste libisemine v\u00f5i vahepeal lisandunud takistused v\u00f5ivad robotit algsest teekonnast k\u00f5rvale juhtida, siis kogu liikumise v\u00e4ltel arvutatakse l\u00fchiajalisemat <\/span><strong><span>lokaalset plaani<\/span><\/strong><span>. Lokaalse plaanimise eesm\u00e4rk on korrigeerida triivi ja juhtida robot uuest takistustest m\u00f6\u00f6da. ROSis on lokaalse plaanimise v\u00e4ljundiks roboti liikumist suunavad kiirusk\u00e4sud.<\/span>\n<\/p>\n<p>\n\t<span id=\"docs-internal-guid-50a8c178-7fff-c9bc-9ed2-924766fae4af\">Kaardid, rajaplaanimine ja lokaliseerimine kokku moodustab roboti navigeerimisv\u00f5imekuse. R\u00e4\u00e4gime robotite navigeerimisv\u00f5imekusest, kui saame robotile anda ette sihtkoha ning seej\u00e4rel suudab roboti tarkvara genereerida roboti juhtk\u00e4sud, mis tagavad roboti kokkup\u00f5rkevaba saabumise sihtpunkti.<\/span>\n<\/p>\n<p>\n\t<img loading=\"lazy\" decoding=\"async\" width=\"1267\" height=\"932\" class=\"alignnone wp-image-123\" src=\"https:\/\/sisu.ut.ee\/wp-content\/uploads\/sites\/560\/kuvatommis_2022-10-30_21-13-54.png\" title=\"kuvatommis_2022-10-30_21-13-54.png\" alt=\".\" srcset=\"https:\/\/sisu.ut.ee\/wp-content\/uploads\/sites\/560\/kuvatommis_2022-10-30_21-13-54.png 1267w, https:\/\/sisu.ut.ee\/wp-content\/uploads\/sites\/560\/kuvatommis_2022-10-30_21-13-54-300x221.png 300w, https:\/\/sisu.ut.ee\/wp-content\/uploads\/sites\/560\/kuvatommis_2022-10-30_21-13-54-1024x753.png 1024w, https:\/\/sisu.ut.ee\/wp-content\/uploads\/sites\/560\/kuvatommis_2022-10-30_21-13-54-768x565.png 768w\" sizes=\"auto, (max-width: 1267px) 100vw, 1267px\"><\/p>\n","protected":false},"excerpt":{"rendered":"<p>R\u00e4\u00e4gime rajaplaneerimisest. \u00dcks robotite peamisi \u00fclesandeid on liikuda. Rajaplaanimise eesm\u00e4rk on defineerida, kuidas liikuda l\u00e4htepunktist sihtkohta, v\u00f5ttes arvesse k\u00f5iki seonduvaid kitsendusi (nt roboti kinemaatika ja keskkonnas esinevad takistused). Tihtilugu on kaval jagada rajaplaanimine kaheks: globaalne ja lokaalne plaanimine. Globaalse plaanimise &#8230;<\/p>\n","protected":false},"author":98,"featured_media":0,"parent":0,"menu_order":0,"comment_status":"closed","ping_status":"closed","template":"","meta":{"_acf_changed":false,"inline_featured_image":false,"footnotes":""},"class_list":["post-42","page","type-page","status-publish","hentry"],"acf":[],"_links":{"self":[{"href":"https:\/\/sisu.ut.ee\/rosak\/wp-json\/wp\/v2\/pages\/42","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/sisu.ut.ee\/rosak\/wp-json\/wp\/v2\/pages"}],"about":[{"href":"https:\/\/sisu.ut.ee\/rosak\/wp-json\/wp\/v2\/types\/page"}],"author":[{"embeddable":true,"href":"https:\/\/sisu.ut.ee\/rosak\/wp-json\/wp\/v2\/users\/98"}],"replies":[{"embeddable":true,"href":"https:\/\/sisu.ut.ee\/rosak\/wp-json\/wp\/v2\/comments?post=42"}],"version-history":[{"count":1,"href":"https:\/\/sisu.ut.ee\/rosak\/wp-json\/wp\/v2\/pages\/42\/revisions"}],"predecessor-version":[{"id":359,"href":"https:\/\/sisu.ut.ee\/rosak\/wp-json\/wp\/v2\/pages\/42\/revisions\/359"}],"wp:attachment":[{"href":"https:\/\/sisu.ut.ee\/rosak\/wp-json\/wp\/v2\/media?parent=42"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}