Autonomno izvršavanje zadataka u okviru izviđačke misije NAO robota

master's thesis

• Title (english): Autonomous Task Execution within NAO Robot Scouting Mission Framework
• Author: Anja Babić
• Mentor: Zdenko Kovačić (mentor)
• Committee member: Zdenko Kovačić (predsjednik povjerenstva)
• Committee member: Stjepan Bogdan (član povjerenstva)
• Committee member: Ivana Palunko (član povjerenstva)
• Granter: University of Zagreb; Faculty of Electrical Engineering and Computing; Zagreb
• Defense date and country: 2014-07-16, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Electrical Engineering

Abstract

U obliku 2D mape definiran je prostor za kretanje humanoidnog robota NAO i obavljanje zadataka. Određen je skup zadataka koje robot obavlja u sklopu izviđačke misije, a izgrađeni prostor je opremljen objektima koji omogućavaju njihovo izvođenje. Razrađen je algoritam za lokalizaciju robota korištenjem kamere i markera. Realizirano je planiranje i praćenje putanje te grafičko sučelje računalo-čovjek za nadzor i definiciju misije te ručno upravljanje robotom. Definiran je automat koji autonomni način rada prebacuje u polu-autonomni i daljinski način rada i obrnuto. Razvijeni moduli su integrirani s modulima za zvučnu i vizualnu percepciju okoline i cjeloviti sustav je testiran na odabranoj izviđačkoj misiji.

Abstract (english)

A polygon for movement and task execution by the humanoid robot NAO was defined in the form of a 2D map. A series of tasks was designed for the robot to accomplish during its scouting mission and the testing polygon was equipped with necessary objects. A localisation algorithm using markers and the robot's camera was developed, as well as algorithms for navigation, path planning and robot motion. A GUI for mission definition, supervision and control, along with manual robot teleoperation, was developed. An automaton was defined which enables switching between autonomous, semi-autonomous and manual operation modes. The developed modules were integrated with modules for audio and visual perception and the complete system was tested on a chosen scouting mission.

• Keywords: NAO; humanoidni robot; lokalizacija; navigacija; GUI; autonomno izvršavanje zadataka
• Keywords (english): NAO; humanoid robot; localisation; navigation; GUI; autonomous task execution
• Language: croatian
• URN:NBN: urn:nbn:hr:168:967308
• Study programme: Title: Electrical Engineering and Information Technology; Study programme type: university; Study level: graduate; Academic / professional title: magistar/magistra inženjer/inženjerka elektrotehnike i informacijske tehnologije (magistar/magistra inženjer/inženjerka elektrotehnike i informacijske tehnologije)
• Type of resource: Text
• File origin: Born digital
• Access conditions: Closed access
• Created on: 2018-02-06 07:38:49