Automatska detekcija područja smanjene mogućnosti kretanja svesmjerne platforme Andymark

undergraduate thesis

• Title (english): Automatic detection of decreased motion ability area for Andymark omnidirectional robotic platform
• Author: Nives Mustapić
• Mentor: Marija Seder (mentor)
• Committee member: Marija Seder (predsjednik povjerenstva)
• Committee member: Luka Petrović (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

Mobilna platforma proizvođača Andymark ima nosivost do 100kg što joj
omogućuje razne primjene.
Mobilna platforma uspostavlja vezu sa računalom serijskom vezom, a njome
se može upravljati bežičnom tipkovnicom. U ovom radu na platformu je
povezan laserski senzor udaljenosti čiji se podaci koriste za izradu mape
prostora pomoću hector_slam paketa iz ROS-a. Napravljen je dodatni paket
koji na izgrađenoj mapi označava prepreke te mjesta oko prepreka na kojima
je platformi ograničeno gibanje s obzirom na njene dimenzije. Omogućena je
dinamička izrada mape dok se platforma kreće te se u stvarnom vremenu
označavaju prepreke i mjesta ograničenog gibanja različitim bojama markera.

Abstract (english)

Mobile platform Andymark has four sweedish wheels for omnidirectional movement and a laser range sensor for obstacle detection. The map of the environment is built using the laser range sensor onboard the mobile platform. Critical areas are detected by the proposed algorithm of finding narrow passages from the built map according to the circumscribed circle around the robot's footprint and the inscribed circle inside the robot's footprint. In these areas the robot has decreased or no maneuverability at all. Dynamic narrow passage detection is also assured from the currently built map while the robot is driving.

• Keywords: ROS; Andymark; hector_slam; grid mapa prostora; rviz; move_base
• Keywords (english): ROS; Andymark; hector_slam; grid map; rviz; move_base
• Language: croatian
• URN:NBN: urn:nbn:hr:168:337617
• 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 23:19:44