Modeliranje autonomnoga mobilnoga robota u ROS programskom okruženju

master's thesis

• Title (english): Modelling of an autonomous driving robot under ROS framework
• Author: Emil Bektešević
• Mentor: Ivan Petrović (mentor)
• Committee member: Ivan Petrović (predsjednik povjerenstva)
• Committee member: Marija Seder (član povjerenstva)
• Committee member: Ivan Marković (član povjerenstva)
• Granter: University of Zagreb; Faculty of Electrical Engineering and Computing; Zagreb
• Defense date and country: 2016-09-22, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Electrical Engineering

Abstract

U ovom radu napravljen je simulator za Conde robota u ROS-u. Cilj prve faze pojekta je stvaranje modela robota i staze za natjecanje u CAD (Solidworks) programu i izvoz istih u Gazebo simulator. Nakon što je napravljen model, parametri i pozicija kamera su namješteni kako bi odgovarala stvarnim kamerama na robotu. U radu je dan pregled pinhole modela kamere kao i najvažniji parametri kamere. Kako bi se dobio realni mode, parametri dinamike robota su određeni i namješteni. Dodatno je napravljen RQT dodatak koji služi kao GUI. Na kraju rada, dinamička svojstva kao i svojstva kamera su detaljno testirani.

Abstract (english)

As part of this thesis, a simulator for Conde robot, under ROS framework is made. The first phase of this project aims at designing a model of a robot and competition track in CAD (Solidworks) program and exporting it to Gazebo simulator.
After creating the model, cameras, parameters and position, were adjusted to correspond to the real cameras on robot. This work provides an overview of a pinhole camera model as well as the most important camera parameters. In order to obtain a realistic model, robots dynamic parameters were determined. Additionally, RQT plugin, serving as GUI is created. Finally, robots dynamics properties as well as camera properties are thoroughly tested.

• Keywords: Kalibracija kamere; Distorzija; Vidno polje; pinhole model; CAD; Gazebo; Gazebo exporter; RQT; ROS
• Keywords (english): Camera Calibration; Distortion; Field of view; pinhole model; CAD; Gazebo; Gazebo exporter; RQT; ROS
• Language: english
• URN:NBN: urn:nbn:hr:168:286075
• 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 07:49:14