Mobilni robot v interakciji z virtualnim okoljem

diplomsko delo

Martin Makovec (Author), Matjaž Mihelj (Mentor), Sebastjan Šlajpah (Co-mentor)

Abstract

V diplomskem delu je predstavljen razvoj sistema mešane resničnosti, ki omogoča sledenje in navigacijo mobilnega robota Pololu 3pi+. Najprej vzpostavimo nizko energijsko Bluetooth komunikacijo (ang. Bluetooth Low Energy - BLE) z robotom, kar omogoča nemoten nadzor in interakcijo. Nato razvijemo regulator, ki omogoča navigacijo robota v poljubno točko. Sprva za sledenje robotu uporabljamo odometrijo, kar pozneje nadgradimo z infrardečim (IR) merilnim okvirjem za večjo natančnost. Merilni okvir okrepi robotovo prostorsko zavedanje, zlasti v zapletenih okoljih. Ta napredek prispeva k natančni navigaciji v scenarijih mešane resničnosti. Poleg tega smo izdelali računalniško aplikacijo, ki uporabnikom omogoča ustvarjanje prog z ovirami. Robot te proge samostojno prevozi z uporabo algoritma A* za iskanje poti.

Keywords

mobilni roboti;odometrija;infrardeči merilni okvir;iskanje poti;algoritem A*;navidezna resničnost;mešana resničnost;univerzitetni študij;Elektrotehnika;diplomske naloge;

Data

Language:	Slovenian
Year of publishing:	2023
Typology:	2.11 - Undergraduate Thesis
Organization:	UL FE - Faculty of Electrical Engineering
Publisher:	[M. Makovec]
UDC:	007.52:004(043.2)
COBISS:	163014147
Views:	38
Downloads:	9
Average score:	0 (0 votes)
Metadata:

Other data

Secondary language:	English
Secondary title:	ǂA ǂmobile robot interacting with a virtual environment
Secondary abstract:	This thesis presents the development of a mixed reality system with tracking and navigation capabilities for a mobile robot integrated with Bluetooth Low Energy (BLE) communication. First we establish BLE communication with a Pololu 3pi+ robot, enabling seamless control and interaction. After we develop a navigation controller, initially utilizing odometry and later enhanced with an infrared (IR) measuring frame for superior accuracy. The measuring frame bol- sters the robot’s spatial awareness, particularly in complex environments. This advancement contributes to precise navigation in mixed reality scenarios. Com- plementing this, we made a computer application, which empowers users to create obstacle courses. The robot autonomously navigates these courses using the A* pathfinding algorithm.
Secondary keywords:	odometry;BLE;IR frame;A* pathfinding;virtual reality;mixed reality;
Type (COBISS):	Bachelor thesis/paper
Study programme:	1000313
Embargo end date (OpenAIRE):	1970-01-01
Thesis comment:	Univ. v Ljubljani, Fak. za elektrotehniko
Pages:	XVI, 48 str.
ID:	19872214