Tekmovanje Robo liga FRI

pod žarometi in v zaodrju

Jakob Maležič (Author), Uroš Lotrič (Mentor), Nejc Ilc (Co-mentor)

Abstract

Opišemo univerzitetno tekmovanje Robo liga FRI in letošnji izziv. Nadgradimo prejšnji zaledni sistem tekmovanja, ki skrbi za sledenje objektom, strežbo podatkov o igri ter beleženje točk. Sistem pretvorimo iz monolitne v modularno arhitekturo s strežnikom in aplikacijskim programskim vmesnikom, ki uporablja arhitekturni slog za predstavitveni prenos stanja - REST (ang. representational state transfer), ki definira komunikacijo med spletnimi storitvami in nudi končne točke za branje podatkov in upravljanje tekme. Za sledenje objektom uporabimo kamero in značke ArUco. Nato predstavimo glavne probleme sestavljanja in programiranja avtonomnega robota z diferencialnim pogonom za opravljanje tekmovalnih nalog. Preučimo najbolj znane algoritme za iskanje in planiranje poti. Izberemo najbolj primerne, jih implementiramo in ocenimo na poligonu.

Keywords

Robo liga FRI;mobilni robot z diferencialnim pogonom;iskanje poti;planiranje poti;avtonomni robot;strežnik igre;REST API;računalništvo in informatika;univerzitetni študij;diplomske naloge;

Data

Language:	Slovenian
Year of publishing:	2020
Typology:	2.11 - Undergraduate Thesis
Organization:	UL FRI - Faculty of Computer and Information Science
Publisher:	[J. Maležič]
UDC:	004:007.52(043.2)
COBISS:	30009859
Views:	935
Downloads:	160
Average score:	0 (0 votes)
Metadata:

Other data

Secondary language:	English
Secondary title:	Competition Robo Liga FRI
Secondary abstract:	We describe university competition Robo Liga FRI and this year’s challenge. We upgrade the old competition’s backend system, which takes care of object tracking, serving the game’s live data and game score. We transform the system from monolith to modular architecture with the REST API server, which provides endpoints for data access and game control. For object tracking we use a camera and ArUco tags. We then present main problems of constructing and programming of a differential-wheel robot for carrying out tasks specified by the competition. We examine the most used algorithms for path finding and path planning. Then we choose the most suitable ones for the competition, implement them and evaluate them on the field.
Secondary keywords:	Robo liga FRI;differential wheeled mobile robot;path finding;path planning;autonomous robot;game server;REST API;computer and information science;diploma;
Type (COBISS):	Bachelor thesis/paper
Study programme:	1000468
Embargo end date (OpenAIRE):	1970-01-01
Thesis comment:	Univ. v Ljubljani, Fak. za računalništvo in informatiko
Pages:	51 str.
ID:	12031374