Izgradnja karte mobilnim robotom Turtlebot rotirajućim laserskim senzorom udaljenosti

undergraduate thesis

• Title (english): Map building with a Turtlebot mobile robot using a rotating laser range sensor
• Author: Karlo Liović
• Mentor: Ivan Marković (mentor)
• Committee member: Ivan Marković (predsjednik povjerenstva)
• Committee member: Tomislav Petković (član povjerenstva)
• Committee member: Goran Popović (član povjerenstva)
• Granter: University of Zagreb; Faculty of Electrical Engineering and Computing; Zagreb
• Defense date and country: 2018-07-13, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Electrical Engineering

Abstract

Mapiranje je jedan od ključnih zadataka kada su u pitanju mobilni roboti. U prošlosti, mapiranje prostora je izvedeno koristeći precizne, ali i skupe senzore. Razvojem elektronike je omogućilo nabavu sličnih senzora po prihvatljivijoj cijeni.
U ovom radu, zadatak je izgradnja karte nepoznatog prostora koristeći mobilni robot, specifično Turtlebot3 Burger. Robot je opremljen laserskim senzorom LDS-01 pomoću kojeg stvara 2D kartu prostora koristeći već poznate SLAM metode.
U radu je dan uvod u Robotski operacijski sustav (ROS), opis robota koji je korišten te je objašnjen način na koji je mapiranje prostora postignuto. Na kraju su prikazani rezultati dobiveni različitim metodama.

Abstract (english)

Mapping is one of the key tasks when it comes to mobile robots. In the past, map building was performed using accurate, but expensive sensors. As the electronics development grew, so did the availability of similar sensors at a more affordable price.
In this paper, the task was to build a map of an unknown area using a mobile robot, specifically Turtlebot3 Burger. The robot is equipped with a LDS-01 sensor with which it can create a 2D map of the environment using already known SLAM methods.
In the paper you are given an introduction to Robot Operating System (ROS), a description of the robot used for the task and an explanation of how the map building was achieved. The results of the various SLAM methods are shown in the end.

• Keywords: ROS; Turtlebot; SLAM
• Keywords (english): ROS; Turtlebot; SLAM
• Language: croatian
• URN:NBN: urn:nbn:hr:168:840755
• 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: 2019-03-13 22:18:32