Odometrija mobilnoga robota zasnovana na očitanjima laserskog senzora udaljenosti

undergraduate thesis

• Title (english): Mobile Robot Odometry Based on Laser Range Sensor Readings
• Author: Valentina Kovač
• Mentor: Ivan Marković (mentor)
• Committee member: Ivan Marković (predsjednik povjerenstva)
• Committee member: Ivan Petrović (član povjerenstva)
• Committee member: Marija Seder (član povjerenstva)
• Granter: University of Zagreb; Faculty of Electrical Engineering and Computing; Zagreb
• Defense date and country: 2017-07-10, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Electrical Engineering

Abstract

U ovom radu predstavljena je metoda lokalizacije zasnovana na slaganju
uzastopnih očitanja laserskog senzora udaljenosti. Ova metoda uspoređuje
referentni i trenutni položaj robota, na način da u svakom trenu računa promjenu
kuta, te x i y koordinate. Ukupni položaj predstavlja ukupni zbroj promjena.
Učinkovitost ove metode promatrana je u RViz vizualizatoru, te su rezultati
predstavljeni u Matlabu. Pokazano je da lokalizacija na temelju metode slaganja
uzastopnih laserskih očitanja daje dobre rezultate za određene situacije. No, ipak
određeni nedostatci su vidljivi pa je nadogradnja ove metode potrebna.

Abstract (english)

This paper presents scan matching method based on the consecutive scan
matching readings of laser range finder. This method compares reference and
current position of robot by calculating change of angle and x and y axis in every
moment. Final position is sum of these changes. Effectiveness of the method was
observed in RViz and results were presented in Matlab. It is shown that localization
based on the consecutive scan matching readings of laser range finder gives good
results for some situations. But, some disadvantages are visible so this method
needs updating.

• Keywords: lokalizacija; histogram; korelacija; metoda zasnovana na slaganju uzastopnih laserskih očitanja
• Keywords (english): localization; histogram; correlation; method based on the consecutive matching readings of laser range finder
• Language: croatian
• URN:NBN: urn:nbn:hr:168:260829
• 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 21:48:48