| Abstract: |  The diploma thesis deals with the inspection path planning for the car-like robot The camera model with the restricted field of view is considered as a sensor model for observation of objects of interest (cover). A Rapidly-exploring Random Trees Star (RRT*) and Random Inspection Tree Algorithm (RITA) were studied to address this problem. Both algorithms have an important property. It is that they find the optimal path (if such path exists) at the infinitive iteration. Another advantage of the RITA algorithm is that it does not decompose the inspection planning problem into two sub-problems (the traveling salesman problem and the art gallery problem).So, the car-like constraints are considered during the whole path planning, which invokes that the optimal inspection path can be found. Although, the RITA algorithm has excellent properties, the consideration of the camera with the restricted field of view can cause that the path planning will be computationally demanding. Because of it, two modifications of RITA, which keep the original properties and increase the performance of RITA, were proposed. All proposed algorithms and their modifications were implemented and evaluated. At the end of this work, the RITA algorithm was used for the inspection path planning with a robot. |
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