magistrsko delo magistrskega študijskega programa II. stopnje Strojništvo
Matej Barukčić (Author), Rok Vrabič (Mentor)

Abstract

V industrijskih aplikacijah so vse pogosteje uporabljeni avtonomni mobilni roboti, ki za navigacijo ne potrebujejo talnih oznak. Magistrsko delo obravnava zasnovo sistema za avtonomno navigacijo mobilnega robota. Obstoječemu mobilnemu robotu sta prigrajeni globinska kamera Intel RealSense D435 in sledilna kamera T265. Na podlagi globinske kamere se ustvari informacija o oddaljenosti sten in morebitnih ovir v okolici, medtem, ko se na podlagi sledilne kamere ustvari informacija o odometriji mobilnega robota. Senzorji in aktuatorji so integrirani z uporabo ogrodja Robot Operating System (ROS). Implementiran in testiran je algoritem hkratnega kartiranja in lokalizacije gmapping. Testiranje avtonomne navigacije je opravljeno na primeru laboratorijske delavnice.

Keywords

magistrske naloge;robotika;lokalizacija;navigacija;kartiranje;slam metoda;ROS ogrodje;krmiljenje;avtonomno vodenje;

Data

Language: Slovenian
Year of publishing:
Typology: 2.09 - Master's Thesis
Organization: UL FS - Faculty of Mechanical Engineering
Publisher: [M. Barukčić]
UDC: 007.52:681.5:004.896(043.2)
COBISS: 28016643 Link will open in a new window
Views: 508
Downloads: 122
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Other data

Secondary language: English
Secondary title: A system for autonomous navigation of a mobile robot in an industrial environment
Secondary abstract: In industrial applications, there is increasingly more need for autonomous mobile robots, which do not require floor markings to execute navigation. Master's thesis deals with design of system for autonomous navigation of mobile robot. The existing mobile robot is equipped with depth Intel RealSense D435 and a tracking camera T265. Based on depth camera, the information about distance between robot and walls and possible obstacles in surroundings is created. Meanwhile, based on tracking camera, the information about odometry of mobile robot is created. Actuators and sensors are integrated with the use of Robot Operating System (ROS). Implemented and tested is the algorithm of simultaneous mapping and localization gmapping. Testing of autonomous navigation is performed on the example of laboratory workshop.
Secondary keywords: master thesis;robotics;localization;navigation;mapping;slam method;ROS framework;control;autonomous navigation;
Type (COBISS): Master's thesis/paper
Study programme: 0
Embargo end date (OpenAIRE): 1970-01-01
Thesis comment: Univ. Ljubljana, Fak. za strojništvo
Pages: XXII, 63 str., [4] f. pril.
ID: 12006057
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