Priprava simulatorja GAZEBO za simulacijo postopkov SLAM

diplomsko delo

Mirjam Breznik (Author), Suzana Uran (Mentor)

Abstract

Diplomsko delo opisuje pripravo simulacijskega okolja za mobilnega robota, namenjenega tekmovanju RoboCup Rescue. Predstavljen je simulator Gazebo ter ostalo programsko okolje, ki je potrebno za razvoj programov mobilnega robota. Opisana je tudi zgradba robota in njegovih sistemov. Postopek SLAM je predstavljen v svojem poglavju, kjer je podan podrobnejši opis postopka in uporabe paketa hector_mapping. Opisan je tudi algoritem gmapping, ki se prav tako uporablja za izvedbo SLAM postopka.

Keywords

simulacijsko okolje;ROS;simulacija postopkov;mobilni roboti;

Data

Language:	Slovenian
Year of publishing:	2014
Typology:	2.11 - Undergraduate Thesis
Organization:	UM FERI - Faculty of Electrical Engineering and Computer Science
Publisher:	[M. Breznik]
UDC:	681.5:007.52(043.2)
COBISS:	18286614
Views:	1770
Downloads:	93
Average score:	0 (0 votes)
Metadata:

Other data

Secondary language:	English
Secondary title:	PREPARATION OF GAZEBO SIMULATOR FOR SIMULATION OF SLAM ALGORITHMS
Secondary abstract:	This diploma thesis describes the preparation of simulation environment for a mobile robot, designed for the RoboCup Rescue competition. We described simulator Gazebo and other programming environments, which are necessary for the development of mobile robot programs. We also described the robots structure and its systems. SLAM algoorithm is presented in its own heading, where is described this along the package hector_mapping in details. We described gmapping algorithm, which is also used to solve the SLAM problem.
Secondary keywords:	simulators;simulation;mobile robots;
URN:	URN:SI:UM:
Type (COBISS):	Bachelor thesis/paper
Thesis comment:	Univ. v Mariboru, Fak. za elektrotehniko, računalništvo in informatiko, Avtomatika in robotika
Pages:	X, 62 f.
ID:	8729720