Upravljački centar za ROV u miješanoj stvarnosti

undergraduate thesis

• Title (english): Mixed reality control center for ROVs
• Author: Matej Balog
• Mentor: Đula Nađ (mentor)
• Committee member: Đula Nađ (član povjerenstva)
• Committee member: Igor Kvasić (član povjerenstva)
• Committee member: Vladimir Slošić (član povjerenstva)
• Granter: University of Zagreb; Faculty of Electrical Engineering and Computing; Zagreb
• Defense date and country: 2023-09-14, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Computing

Abstract

U ovom radu dizajniran je i implementiran upravljački sustav za BlueROV2 robotsko vozilo. Implementacijom je realizirana komunikacija robota sa upravljačkim računalom sa kojim komunicira preko ROS-a, šalje tom računalu podatke sa kamere i senzora na robotu, a preko upravljačkog računala primamo input sa joystick-a i upravljamo robotom. Nadalje, implementirana je Unity aplikacija upravljačkog centra u kojoj operator robota u aplikaciji virtualne stvarnosti ima upravljački centar u kojem mu se prikazuje video stream sa kamere robota, te dubina na kojoj je robot i njegova orijentacija u prostoru.

Abstract (english)

In this paper, a control system for the BlueROV2 remotely operated vehicle (ROV) has been designed and implemented. The implementation enables communication between the robot and a control computer via ROS, where data from the robot's camera and sensors are sent to the control computer. Input from the joystick is received through the control computer, allowing control of the robot. Furthermore, a Unity application for the control center has been developed, providing the robot operator with a virtual reality (VR) interface. The VR control center displays a video stream from the robot's camera, as well as the robot's depth and orientation in space.

• Keywords: Robotika; VR; AR; BlueROV; ROS; Unity; TCP; senzori; kamera; joystick; thruster; simulacija; upravljanje
• Keywords (english): Keywords; Robotics; VR; AR; BlueROV; ROS; Unity; TCP; sensors; camera; joystick; thruster; simulation; control
• Language: croatian
• URN:NBN: urn:nbn:hr:168:323165
• 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: 2023-10-11 08:21:13