Lokalizacija i navigacija mobilnog robota Turtlebot pomoću rotirajućeg laserskog senzora udaljenosti

undergraduate thesis

• Title (english): Localization and navigation of a Turtlebot mobile robot using a rotating laser range sensor
• Author: Viktor Prusac
• Mentor: Ivan Marković (mentor)
• Committee member: Ivan Marković (predsjednik povjerenstva)
• Committee member: Goran Popović (član povjerenstva)
• Committee member: Tomislav Petković (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; Computing

Abstract

Ovaj rad napravljen je pomoću open-source okvira ROS pomoću kojeg se olakšava izrada softverskih aplikacija za robote. Praktičan dio rada napravljen je na mobilnom robotu Turtlebot 3 Burgeru. Turtlebot 3 Burger robot je otvorenog hardvera koji se lako modificira i nadograđuje. Robot se sastoji od kućišta, 2 kotača s motorima, Raspberry Pi 3 pločice, OpenCR ugradbene ploče, te na vrhu sadrži rotirajući laserski senzor udaljenosti pomoću kojeg očitava prostor oko sebe. Ovaj rad se bavi analizom algoritama lokalizacije i navigacije Turtlebota, te testiranjem tih algoritama na stvarnom primjeru. Uz te algoritme, ovaj rad ukratko objašnjava osnove za razumijevanje ROS-a te algoritme mapiranja, koji služe za dobivanje mape po kojoj se robot kasnije navigira.

Abstract (english)

This work is done using an open-source ROS framework that makes creating software for robots easier. Practical part of the work has been made on a mobile robot Turtlebot 3 Burger. Turtlebot 3 Burger is an open hardware robot that is easy to modify and upgrade. The robot consists of casing, 2 wheels with servos, Raspberry Pi 3 Single Board Computer, OpenCR embedded board and the top features a rotating laser range sensor that reads the space around it. This work deals with the analyses of Turtlebot’s localization and navigation algorithms, and testing these algorithms in the real example. Along with these algorithms, this work explains the basics for understanding ROS and mapping algorithms, which are needed to get a map by which the robot later navigates.

• Keywords: robotski operacijski sustav; mapiranje; algoritmi; Raspberry Pi 3
• Keywords (english): Robot Operating System; mapping; algorithms; Raspberry Pi 3
• Language: croatian
• URN:NBN: urn:nbn:hr:168:850810
• Study programme: Title: Computing; Study programme type: university; Study level: undergraduate; Academic / professional title: sveučilišni/a prvostupnik/ prvostupnica (baccalaureus/baccalaurea) inženjer/inženjerka računarstva (sveučilišni/a prvostupnik/ prvostupnica (baccalaureus/baccalaurea) inženjer/inženjerka računarstva)
• Type of resource: Text
• File origin: Born digital
• Access conditions: Closed access
• Created on: 2019-03-14 00:14:06