Razvoj in primerjava metod vodenja mobilnega robota v referenčno lego

diplomsko delo Visokošolskega strokovnega študijskega programa I. stopnje Strojništvo

Marko Osolnik (Author), Rok Vrabič (Mentor)

Abstract

Uporaba mobilnih robotov vsako leto narašča. Zaradi hitrega ritma v industriji so zahteve po krajših časovnih intervalih procesov in večja produktivnost vse bolj ostre. V modernih proizvodnih sistemih so mobilni roboti postali ključni del sistema za hiter ter varen prevoz materiala. V diplomskem delu je obravnavan razvoj mobilnega robota pri pozicioniranju za prevoz materiala v industriji. Sistem je implementiran z strojno-programskim okoljem ROS in programskim jezikom C++. Predstavljena je zgradba robota, programsko okolje v katerem se izvaja razvoj algoritmov ter področja uporabe mobilnega robota. Opisan je tudi algoritem za procesiranje slike zunanje kamere in različne metode za vodenje mobilnega robota v referenčno lego. Zaključek temelji na preizkusu in primerjavi rezultatov z različnimi metodami, ugotovitvah in predlogih za možne nadgradnje sistema.

Keywords

diplomske naloge;mobilni roboti;metode vodenja;kamere;krmiljenje;robotski operacijski sistem;programski jezik C++;

Data

Language:	Slovenian
Year of publishing:	2019
Typology:	2.11 - Undergraduate Thesis
Organization:	UL FS - Faculty of Mechanical Engineering
Publisher:	[M. Osolnik]
UDC:	007.52:004.451.25(043.2)
COBISS:	16877851
Views:	1280
Downloads:	182
Average score:	0 (0 votes)
Metadata:

Other data

Secondary language:	English
Secondary title:	Development and comparison of mobile robot guidance methods
Secondary abstract:	The mobile robots usage is increasing yearly. Due to the fast pace in the industry, the requirements of shorter time intervals of processes and higher productivity are getting stricter. Mobile robots in modern production systems have become key enablers of the system for fast and safe transportation of material. In this thesis the development of mobile robot in positioning for material transportation is discussed. The system is implemented with middleware ROS and programming language C++. The structure of the robots, the software environment, the development of algorithms and the use of mobile robots are described. Also it is described the algorithm for processing the picture of the camera and different methods for controlling the mobile robot into the reference position. Conclusion is based on an experiment and comparison the results from different methods, findings and suggestions for possible system upgrades.
Secondary keywords:	mobile robots;guiding methods;cameras;steering;robotic operating system;C ++ programming language;
Type (COBISS):	Bachelor thesis/paper
Study programme:	0
Embargo end date (OpenAIRE):	1970-01-01
Thesis comment:	Univ. v Ljubljani, Fak. za strojništvo
Pages:	XXII, [48] str.
ID:	11217189