Vizualno slijeđenje mobilnim robotom s diferencijalnim pogonom

undergraduate thesis

• Title (english): Visual servoing with a differential drive mobile robot
• Author: Dario Kuvačić
• Mentor: Ivan Petrović (mentor)
• Committee member: Ivan Petrović (predsjednik povjerenstva)
• Committee member: Ivan Marković (član povjerenstva)
• Committee member: Goran Popović (član povjerenstva)
• Granter: University of Zagreb; Faculty of Electrical Engineering and Computing; Zagreb
• Defense date and country: 2018-09-19, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Electrical Engineering

Abstract

Vizualno slijeđenje je brzorastuća metoda upravljanja robota pomoću kamere i robotskog vida. Povratna veza s kamerom osigurava odličnu preciznost uz nižu cijenu i veću fleksibilnost samog uređaja, te omogućuje razne nove mogućnosti za robote kako više ne moraju biti ograničeni na određen prostor. Na primer jednostavnog robota s diferencijalnim pogonom, promatramo razne složenosti vizualnog slijeđenja, te probleme u robotici i računalnom vidu. Dajemo osnove kinematike; definiranje kinematičkih parametara za upravljanje zglobova robota, crtanje ortonormiranih koordinatnih sustava za upravljanje robota u prostoru, te definiranje matrica transformacije koordinatnih sustava. Promatramo problematiku Robotskog vida i metode analize slike; filtriranje šuma,razne metode segmentacija objekta te momenti slike. Susrećemo se i s problemima u samom robotskom operacijskom sustavu s prijenosom podataka. Konačno primjenjujemo sve u jednom primjeru vizualnog slijeđenja gdje koristimo Turtlebot 3 za praćenje neke određene mete.

Abstract (english)

Visual servoing is a quickly advancing robot control method using camera sensors and robotic vision. The camera’s feedback provides excellent precision at a lower price and greater flexibility of the device itself, and provides a variety of new features for robots so that they no longer have to be restricted to a certain space. For example, we take a simple robot with a differential drive and observe various complexities of visual tracking, and the problems in robotics and computer vision. We give the basics of kinematics; defining kinematic parameters for the control of joints of robots, drawing orthonormative coordinate systems for managing robots in space, and defining transformation matrices of coordinate systems. We observe the problem of Robotic vision and the method of image analysis; noise filtering, various object segmentation methods and image moments. We also encounter problems in the robotic operating system with data transfer. Finally, we apply everything in one example of visual tracking where we use Turtlebot 3 to track some specific target.

• Keywords: Robotika; ROS; Turtlebot3; Robotis; Računalni vid; Kinematika robota; Vizualno slijeđenje
• Keywords (english): Robotics; ROS; Turtlebot3; Robotis; Computer vision; Robot kinematics; Visual servoing
• Language: croatian
• URN:NBN: urn:nbn:hr:168:718742
• 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 22:11:05