Lokalizacija avtonomnega mobilnega robota brez uporabe zemljevida

diplomsko delo

Rok Peterlin (Author), Danijel Skočaj (Mentor)

Abstract

Cilj diplomske naloge je implementacija in obsežna evalvacija različnih načinov navigacije ter lokalizacije, ki upoštevajo zgolj robotove ukaze in podatke odometrije, in njihova nadgradnja z zaznavami statičnih vizualnih oznak. Različice sistema so bile implementirane z uporabo razvojnega ogrodja ROS, sprva v simulatorju Gazebo in nato na mobilni platformi Turtlebot. Opisu uporabljene strojne in programske opreme sledi predstavitev implementiranih metod in različic sistema, pri čemer se različice med seboj ločijo po uporabljeni metodi za lokalizacijo, omejenosti okolja in zmožnosti zaznave referenčnih vizualnih oznak. V zadnjem delu je izvedena obširna evalvacija predstavljenih različic.

Keywords

ROS;Turtlebot;Gazebo;lokalizacija;analiza napak;mobilna robotika;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:	[R. Peterlin]
UDC:	007.52(043.2)
COBISS:	31711747
Views:	734
Downloads:	129
Average score:	0 (0 votes)
Metadata:

Other data

Secondary language:	English
Secondary title:	Mapless localization of the autonomous mobile robot
Secondary abstract:	The aim of the bachelor's thesis is the implementation and extensive evaluation of various methods of navigation and localization which take into account robot commands and odometry data and their upgrade with the detection of static markers. The system was implemented using the ROS framework, at first in the Gazebo simulator and then on the Turtlebot mobile platform. The description of the used hardware and software is followed by a more in-depth look into the implemented methods and system variants where the variants are distinguished by the localization method, environmental limitations, and the ability to detect reference markers. Finally, an evaluation of the presented versions is carried out.
Secondary keywords:	ROS;Turtlebot;Gazebo;localization;error analysis;mobile robotics;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:	44 str.
ID:	12036982