Autonomna navigacija mobilnog robota na složenom nestrukturiranom terenu

undergraduate thesis

• Title (english): Autonomous navigation of mobile robots in complex unstructured terrain
• Author: Mario Paradžik
• Mentor: Marija Seder (mentor)
• Committee member: Marija Seder (član povjerenstva)
• Committee member: Ana Šelek (član povjerenstva)
• Committee member: Karlo Koledić (član povjerenstva)
• Granter: University of Zagreb; Faculty of Electrical Engineering and Computing; Zagreb
• Defense date and country: 2022-07-15, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Computing

Abstract

Autonomni roboti mijenjaju našu svakodnevnicu. Kako danas živimo u svijetu moderne tehnologije roboti su sve napredniji i napredniji. Brz prijenos i obrada podataka, umreženost, autonomnost i ciljano grupiranje tih podataka samo su jedni od prednosti koje nam oni nude i zbog čega su sve popularniji. Tome doprinosi i činjenica se ih je moguće integrirati u razna i brojna područja, od auto, vojne pa sve do medicinskih sektora. Jedna od dodatnih značajki koje kod njih pronalazimo je to što je njihovu tehnologiju i upravljanje moguće pružiti na korištenje svima kojima je to potrebno zato što je jedina potreba imati ispravan mobilni uređaj.
U ovom radu provedena je analiza Autonomna navigacija mobilnog robota na složenom nestrukturiranom terenu za koji su stvoreni različiti tipovi podloga u simulatoru gdje smo pratili odstupanja odvožene i planirane putanje te na samom kraju usporedili njihove iznose kako bi vidjeli utjecaj nestrukturiranih terena.

Abstract (english)

Autonomous robots are changing our daily lives. As we live in the world of modern technology today, robots are getting more and more advanced. Fast data transfer and processing, networking, autonomy and targeted grouping of this data are just some of the advantages they offer us and why they are becoming increasingly popular. The fact that they can be integrated into various and numerous areas, from the car, the military to the medical sectors, also contributes to this. One of the additional features we find with them is that their technology and management can be made available to anyone who needs it because the only need is to have a proper mobile device.
This paper analyses Autonomous navigation of a mobile robot in complex unstructured terrain was performed for which different types of substrates were created in the simulator where we monitored the deviations of the driven and planned trajectory and finally compared their amounts to see the impact of unstructured terrain.

• Keywords: ROS; Gazebo; Husky; autonomni roboti; nestrukturirani teren
• Keywords (english): ROS; Gazebo; Husky; autonomous robots; unstructured terrain
• Language: croatian
• URN:NBN: urn:nbn:hr:168:647753
• Study programme: Title: Computing; Study programme type: university; Study level: undergraduate; Academic / professional title: sveučilišni/a prvostupnik/ prvostupnica (baccalaureus/baccalaurea) inženjer/inženjerka računarstva (sveučilišni/a prvostupnik/ prvostupnica (baccalaureus/baccalaurea) inženjer/inženjerka računarstva)
• Type of resource: Text
• File origin: Born digital
• Access conditions: Closed access
• Created on: 2023-01-15 10:57:59