Avtonomno raziskovanje mobilnega robota z meta-operacijskim sistemom ROS (Robotski operacijski sistem)

diplomsko delo

Tadej Motaln (Author), Suzana Uran (Mentor), Karl Gotlih (Mentor)

Abstract

Diplomsko delo opisuje razvoj mobilnega robota, ki je namenjen tekmovanju RoboCup Rescue in raziskovanju ter reševanju ponesrečencev ujetih v ruševinah v realnem scenariju nezgode. Predstavljena je zgradba robota in njegovih sistemov ter programsko okolje v katerem se razvijajo njegovi programi. Opisani so programi in funkcije, ki so povezane avtonomnim raziskovanjem robota. Podrobno pa je predstavljen razvoj algoritma za določanje globalnih ciljev robota. Rezultati celotnega dela so se izkazali za uspešne, ampak ugotavljamo, da je na tem področju še veliko prostora za izboljšave, predvsem v prihodnosti, ko bodo procesorji zmogljivejši.

Keywords

mobilni robot;avtonomna vožnja;raziskovanje prostora;procesiranje slik;določanje ciljev;diplomske naloge;

Data

Language:	Slovenian
Year of publishing:	2013
Typology:	2.11 - Undergraduate Thesis
Organization:	UM FERI - Faculty of Electrical Engineering and Computer Science
Publisher:	[T. Motaln]
UDC:	614.86:007.52(043.2)
COBISS:	17465366
Views:	1461
Downloads:	135
Average score:	0 (0 votes)
Metadata:

Other data

Secondary language:	English
Secondary title:	Autonomous exploration of a mobile robot with a meta-operating system ROS (robotic operating system)
Secondary abstract:	This diploma describes the development of a mobile robot designed for the RoboCup Rescue competition, exploration and rescue of casualties that are trapped in ruins in a real-world scenario. We describe the construction of the robot and its systems, the programming environment in which the software for the robot is developed. We also describe the programs and functions that are relevant to the autonomous exploration of the robot. Than we present the development of an algorithm for determination of global goals. The result of the entire work has proven to be successful, but we determinate that in this area of research there is still lots of space for improvement, especial in the future when processors will be more powerful.
Secondary keywords:	mobile robot;autonomous driving;exploration;image procesing;goal determination;
URN:	URN:SI:UM:
Type (COBISS):	Undergraduate thesis
Thesis comment:	Univ. v Mariboru, Fak. za strojništvo
Pages:	IX, 55 f., [3] f.
ID:	8727842