Implementacija mobilnog robotskog sustava za kontrolu pristupa i zaštitu strukturiranog zatvorenog okoliša

master's thesis

• Title (english): Implementation of a mobile robotic system for access control and protection of a structured indoor environment
• Author: Jure Andrić
• Mentor: Zdenko Kovačić (mentor)
• Committee member: Zdenko Kovačić (predsjednik povjerenstva)
• Committee member: Matko Orsag (član povjerenstva)
• Committee member: Tamara Petrović (član povjerenstva)
• Granter: University of Zagreb; Faculty of Electrical Engineering and Computing; Zagreb
• Defense date and country: 2020-07-10, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Electrical Engineering

Abstract

U ovom radu analizirani su najvažniji algoritmi lokalizacije robota. EKF je testiran na Matlab-ovom simulatoru dok je AMCL testiran na simulatoru robota Pepper-a te su oba algoritma dala dobre rezultate. Za kontrolu pristupa izrađen je RFID. Napravljena su dva algoritma. Prvi je namijenjen za iščitavanje kodova svih kartica dok je drugi namijenjen kontroli pristupa, tj. osobe čije se kartice nalaze unutar programa, mogu pristupiti prostoriji. Potpuna integracija svega s Epsimax sustavom nije napravljena, ali se rad na projektu nastavlja. Na kraju svega analizirana je tema zaštite robota od kibernetičkih napada koja je, posebno za ovo područje, od velike važnosti. Razrađene su dvije metode zaštite. Prva se odnosi na zaštitu lokalne mreže, a druga se odnosi na kriptiranje podataka unutar ROS-a.

Abstract (english)

In this paper, the most important algorithms of robot localization have been analysed. The EKF was tested on the Matlab simulator while the AMCL was tested on the Pepper robot simulator and both algorithms gave good results. RFID was created for access control. Two algorithms have been made. The first one is intended for reading the codes of all cards while the second one is intended for access control, i.e. persons whose cards are inside the program, can access the room. Complete integration of everything with the Epsimax system has not been done, but work on the project continues. At the end of the day, the topic of protection of robots against cyber attacks was analyzed, which, especially for this area, is of great importance. Two methods of protection have been elaborated. The first relates to the protection of the local network, and the second refers to the encryption of data within the ROS.

• Keywords: ROS; robot Pepper; lokalizacija; AMCL; EKF; Python; C; MATLAB; RFID; Arduino; detekcija lica; Epsimax sustav
• Keywords (english): ROS; Pepper robot; Localization; AMCL; EKF; Python; C; MATLAB; RFID; Arduino; Face detection; Epsimax
• Language: croatian
• URN:NBN: urn:nbn:hr:168:495858
• 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: 2023-01-13 11:40:25