Navigacija mobilnog robota pomoću Matlaba

master's thesis

• Title (english): Mobile Robot Navigation Using Matlab
• Author: Domagoj Labura
• Mentor: Ivan Petrović (mentor)
• Committee member: Ivan Petrović (predsjednik povjerenstva)
• Committee member: Marija Seder (član povjerenstva)
• Committee member: Ivan Marković (član povjerenstva)
• Granter: University of Zagreb; Faculty of Electrical Engineering and Computing; Zagreb
• Defense date and country: 2017-02-10, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Electrical Engineering

Abstract

Navigacija mobilnog robota obuhvaća njegovu lokalizaciju i gibanje u prostoru od početne do zadane točke. Programski paket Matlab od nedavno ima razvijen alat za upravljanje mobilnim robotima koji daje sučelje između Matlaba/Simulinka i robotskog operacijskog sustava (ROS), interaktivno istražuje mogućnosti robota te daje vizualizaciju senzorskih podataka s robota. Nadalje, omogućuje razvoj, testiranje i provjeru algoritama upravljanja stvarnim robotima. U ovom diplomskom radu je primijenjen navedeni alat Matlaba za upravljanje mobilnim robotom Pioneer 3-DX, vizualizaciju podataka s laserskog senzora udaljenosti LMS200 te razvoj algoritma navigacije robota u prostoru koji sadrži statičke prepreke. Konačno, izrađeno je grafičko sučelje koje korisniku omogućuje lagano praćenje i upravljanje mobilnim robotom.

Abstract (english)

Mobile robot navigation includes robots localization and motion in space from the starting point to setpoint. Recently, the software package Matlab has developed tool for mobile robot control which provides interface between Matlab/Simulink and Robot Operating System (ROS), interactive exploration of robots capabilities and visualization of the sensor data. Furthermore, it enables the development, testing and verification of mobile robot control algorithms. In this master's theses, mentioned Matlab tool has been used for control of the the mobile robot Pioneer 3-DX, visualization of the laser range sensor LMS200 data and development of the algorithm that navigates robot in space filled with static obstacles. At last, graphical user interface has been made which gives user possibility to easily track and control the mobile robot.

• Keywords: ROS; Matlab; Simulink; mobilni robot; Pioneer 3-DX; laser; senzor udaljenosti; LMS200; lokalizacija; navigacija; grafičko sučelje
• Keywords (english): ROS; Matlab; Simulink; mobile robot; Pioneer 3-DX; laser; range sensor; LMS200; localization; navigation; graphical user interface
• Language: croatian
• URN:NBN: urn:nbn:hr:168:848717
• Study programme: Title: Electrical Engineering and Information Technology; Study programme type: university; Study level: graduate; Academic / professional title: magistar/magistra inženjer/inženjerka elektrotehnike i informacijske tehnologije (magistar/magistra inženjer/inženjerka elektrotehnike i informacijske tehnologije)
• Type of resource: Text
• File origin: Born digital
• Access conditions: Closed access
• Created on: 2019-03-13 22:12:51