Algoritam slijeđenje zasnovan na informacijama s 3D kamere i laserskog senzora

undergraduate thesis

• Title (english): Leader-follower algorithm based on information from 3D camera ans laser sensor
• Author: Zvonimir Marjanović
• Mentor: Stjepan Bogdan (mentor)
• Committee member: Stjepan Bogdan (predsjednik povjerenstva)
• Committee member: Goran Vasiljević (član povjerenstva)
• Committee member: Frano Petric (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

Implementiran je algoritam za slijed¯enje korištenjem ocˇitanja s 3D senzora te laserskog
senzora udaljenosti. Algoritam se temelji na algoritmu cˇistog slijed¯enja. Implementacija
je omogu´cena korištenjem okruženja za razvoj softvera za robote koji se
naziva ROS - robotski operacijski sustav. Roboti korišteni pri izvedbi rada su Pioneer
3-DX mobilni roboti. Cilj rada algoritma je izraˇcun potrebne kutne i linearne brzine
robota koji prati putanju.
Evaluacija rezultata izvedbe algoritma obavljena je najprije u simulatoru robotskih
sustava Gazebo. Gazebom je provjeren rad algoritma uz postojanje globalnog koordinatnog
sustava što omoguc´uje provjeru logike algoritma. Nakon što je potvrd¯en rad
algoritma unutar simulacije prešlo se na provjeru u realnim uvjetima.
Provjera rada algoritma bez globalnog koordinatnog sustava izvedena je na robotima
P3-DX u prostoru Fakulteta Elektrotehnike i Raˇcunarstva. Provjera je izvedena
provod¯enjem eksperimenata uz prilagodbu odred¯enih parametara realnim uvjetima.
Provod¯enje spomenutih eksperimenata potvrdilo je tocˇan izracˇun potrebnih brzina te
op´cenitu funkcionalnost algoritma.

Abstract (english)

A path tracking algorithm using a 3D sensor and a laser sensor has been implemented.
The algorithm is based on the pure pursuit algorithm. The ROS - robot operating
system framework was used in the implementation. The robots which were used are
Pioneer 3-DX mobile robots. The algorithms goal is to calculate the necessary linear
and angular velocity for the robot which is tracking the path.
The evaluation of the functionality of the algorithm has firstly been done in the
robot system simulator Gazebo. The usage of Gazebo enables the verification of the
functionality of the algorithm with an existing global coordinate system. After the functionality
of the algorithm in the simulator has been verified, the evaluation has been
done in realistic conditions.
The evaluation done in realistic conditions without an existing global coordinate
system has been done inside the Faculty of Electrical Engineering and Computing
using the P3-DX mobile robots. The verification procedure consisted of doing a number
of experiments and altering the parameters of the algorithm after each experiment
accordingly in regard to the conditions. The experiments have verified that the velocity
calculation done in the algorithm is correct thus verifying the functionality of the
algorithm.

• Keywords: algoritam slijed¯enja; laserski senzor; 3D senzor; ROS; mobilni roboti
• Keywords (english): path tracking algorithm; laser sensor; 3D sensor; ROS; mobile robots
• Language: croatian
• URN:NBN: urn:nbn:hr:168:074675
• 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 22:41:31