Mobilni robot za lokalizacijo in kartiranje prostora z uporabo senzorja za razdaljo

diplomsko delo

Matic Rašl (Author), Aleš Holobar (Mentor)

Abstract

V diplomskem delu smo izdelali konstrukcijo, elektronske komponente in programsko opremo mobilnega robota za izvajanje algoritma SLAM. Izdelali smo namizno aplikacijo, ki je zadolžena za komunikacijo z robotom ter njegovo upravljanje. Opisali smo delovanje algoritma SLAM za kartiranje prostora ter med seboj primerjali rezultate kartiranja pri uporabi različnih nastavitev. Najboljši rezultati so ohranili obliko prostora ter njegove dimenzije z natančnostjo do 2 %.

Keywords

mobilni roboti;senzorji za razdaljo;kartiranje prostora;lokalizacija prostora;diplomske naloge;

Data

Language:	Slovenian
Year of publishing:	2020
Typology:	2.11 - Undergraduate Thesis
Organization:	UM FERI - Faculty of Electrical Engineering and Computer Science
Publisher:	[M. Rašl]
UDC:	007.52(043.2)
COBISS:	38989827
Views:	363
Downloads:	78
Average score:	0 (0 votes)
Metadata:

Other data

Secondary language:	English
Secondary title:	Mobile robot for localization and room mapping with a distance sensor
Secondary abstract:	In the diploma thesis, we describe the construction, electronic components, and software of a mobile robot, with the focus on the implementation of the SLAM algorithm. We created a desktop application that is controlling communication with the robot and driving the robot. We described the operation of the SLAM algorithm for spatial mapping and compared the mapping results with different settings. The best results have retained the shape of the space with an accuracy of up to 2 %.
Secondary keywords:	mobile robot;distance sensor;mapping;localization;SLAM;
Type (COBISS):	Bachelor thesis/paper
Thesis comment:	Univ. v Mariboru, Fak. za elektrotehniko, računalništvo in informatiko, Računalništvo in informacijske tehnologije
Pages:	VIII, 48 f.
ID:	11964740