Poboljšanje točnosti lokalizacije mobilnog robota korištenjem više laserskih senzora udaljenosti

undergraduate thesis

• Title (english): Improvement of Mobile Robot Localisation Accuracy by Using Multiple Laser Range Sensors
• Author: Gordan Ovčarić
• Mentor: Zdenko Kovačić (mentor)
• Committee member: Zdenko Kovačić (predsjednik povjerenstva)
• Committee member: Damjan Miklić (član povjerenstva)
• Committee member: Goran Vasiljević (član povjerenstva)
• Granter: University of Zagreb; Faculty of Electrical Engineering and Computing; Zagreb
• Defense date and country: 2014-07-14, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Electrical Engineering

Abstract

Zadatak ovog završnog rada bio je ispitati toˇcnost lokalizacije mobilnog robota Pioneer P3-DX pomo´cu AMCL (eng. Adaptive Monte Carlo Localization) algoritma. Laserski senzori udaljenosti SICK LMS100 spojeni su na robota za potrebe mjerenja. Mjerenje je obavljeno prvo sa jednim laserskim senzorom udaljenosti, a zatim i istovremeno sa dva. Za generiranje karte prostora i lokalizaciju na dobivenoj karti koristili su se gotovi algoritmi implementirani u ROS (eng. Robot Operating System) operacijskom sustavu za rad s robotima. Rezultati lokalizacije AMCL algoritma provjereni su pomoću visoko preciznog OptiTrack sustava praćenja objekata. Rezultati su prikazali kako AMCL zadovoljava osnovne uvjete lokalizacije, te je precizan do određene granice. Također su rezultati pokazali da AMCL postaje zamjetno precizniji korištenjem dva laserska senzora udaljenosti istovremeno u usporedbi sa samo jednim.

Abstract (english)

The task of this bachelor thesis was to investigate the accuracy of localization of
mobile robot Pioneer P3-DX using AMCL (Adaptive Monte Carlo Localization) algorithm.
For the purpose of measurement two laser rangefinder sensors SICK LMS100
were connected to the robot. The measurement was performed first with a single laser
rangefinder sensor, and then with two of them at the same time. To generate maps of
workspace, and localize on those maps, algorithms implemented in ROS (Robot Operating
System) were used. Results of AMCL localization algorithms have been tested
using high precision OptiTrack objects tracking system. Results show that AMCL meets
the basic requirements of localization, but only to a certain point. Also, the results
showed that AMCL becomes noticeably more precise when using two laser rangefinder
sensors simultaneously instead of just one.

• Keywords: ROS; mobilni robot Pioneer P3-DX; laser SICK-LMS100; OptiTrack; SLAM; gmapping; AMCL; MATLAB
• Keywords (english): ROS; mobile robot Pioneer P3-DX; laser rangefinder SICK-LMS100; OptiTrack system; SLAM; gmapping; AMCL; MATLAB
• Language: croatian
• URN:NBN: urn:nbn:hr:168:877245
• Study programme: Title: Electrical Engineering and Information Technology; Study programme type: university; Study level: undergraduate; Academic / professional title: sveučilišni/a prvostupnik/ prvostupnica (baccalaureus/baccalaurea) inženjer/inženjerka elektrotehnike i informacijske tehnologije (sveučilišni/a prvostupnik/ prvostupnica (baccalaureus/baccalaurea) inženjer/inženjerka elektrotehnike i informacijske tehnologije)
• Type of resource: Text
• File origin: Born digital
• Access conditions: Closed access
• Created on: 2018-02-05 17:47:43