Darbe nagrinėjami algoritmai skirti automatiniam automobilio parkavimui. Pasirinkti du algoritmai: pirmasis remiasi ultragarso sonarų teikiama informacija, antrasis ultragarso sonarų ir vaizdo kameros teikiamais duomenimis. Abu algoritmai remiasi fuzzy logika. Nustatyta, kad realiomis sąlygomis atlikti automatinį automobilio parkavimą remiantis tik ultragarso sonarais yra nepatikima – patikimumas ir sistemos nauda ženkliai pagerėja pasitelkus vaizdo kamerą. Įsisavinus ir perpratus robotikos platformą Microsoft Robotics Developer Studio 4 sukurtas automobilio modelis grafinėje miesto aplinkoje. Modelis aprūpintas sonarais ir vaizdo kameromis, todėl gali būti universaliai naudojamas parkavimosi algoritmų bandymams ir analizei Microsoft Robotics Developer Studio 4 vizualios simuliacijos aplinkoje (VSE). / The thesis „Motion Trajectory Planning Using Distance Sensors“ deals with algorithms for automatic car parking. There were chosen two algorithms: the first is based on information provided by ultrasonic sonars, and the second is based on ultrasonic sonars and video camera. It was found that under realistic conditions algorithm based only on sonars is not such reliable as algorithm based on ultrasonic sonars and video camera, which significantly improves the results. There was created graphical model of the car in urban environment in Microsoft Robotics Developer Studio 4. The model is equipped with sonars and video cameras, so it can be universally used for parking algorithms analysis and testing in Microsoft Robotics Developer Studio 4 visual simulation environment (VSE).

The background research in this Master’s thesis is focused on swarm intelligence. Further, there are two experiments described. They are based on released publications and they study behaviour of a group of robots during a puck gathering and during a target search. The actual thesis follows a repetition of these experiments in Microsoft Robotics Developer Studio (RDS), a free robotics simulation environment. The realization of both experiments in RDS is documented in detail and the achieved results are evaluated and compared with the results described in the publications. In conclusion, the thesis summarizes basic features, advantages and disadvantages of developing in RDS, based on a personal experience.