Autonomna izgradnja karte prostora svesmjernom platformom Andymark

undergraduate thesis

• Title (english): Autonomous environment mapping by Andymark omnidirectional robotic platform
• Author: Antonio Balaban
• Mentor: Marija Seder (mentor)
• Committee member: Marija Seder (predsjednik povjerenstva)
• Committee member: Ana Šelek (član povjerenstva)
• Committee member: Demijan Jurić (član povjerenstva)
• Granter: University of Zagreb; Faculty of Electrical Engineering and Computing; Zagreb
• Defense date and country: 2019-07-12, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Electrical Engineering

Abstract

Mobilna platforma Andymark je praktično robotsko vozilo koje ima švedske kotače i nosivosti od 100kg te je kao takva namjenjena za razne primjene. Platforma preko
robotskog operacijskog sustava komunicira s računalom te se preko istog i upravlja. Upravljati se može preko upravljačke palice, tipkovnice ili klikom na željenu poziciju koji je u sklopu ovog rada i implementiran. Kako bi se omogućila izgradnja prostora, potrebni su podaci o tome što se nalazi ispred platforme. Ti podaci dobiveni su preko laserskog senzora udaljenosti koji je monitran na prednji kraj platforme i čije se vrijednosti prikazuju vizualizacijskim alatom RVIZ i hector_slam algoritmom unutar ROS operacijskog sustava. Velike dimenzije platforme ograničavaju njenu mobilnost u malom prostoru i prostoru punom prepreka.

Abstract (english)

Omnidirectional platform by Andymark is a practical vehicle with four Swedish wheels and over 100 kilos of cargo/equipment capacity. Andymark platform communicates with the computer through Robot Operating System (ROS) and it’s also managed through ROS. The platform can be driven and managed with joystick, keyboard or with implemented Click algorithm in this work. If we want to map space around the robot then laser data must be used so the algorithm can visualize walls and barriers. The algorithm is getting required data from LMS100 laser distance sensor that is settled in the front part of the platform. Laser values are shown in RVIZ tool with hector_slam algorithm transform. The dimensions of the platform have an impact on platform motion in small rooms full of barriers.

• Keywords: ROS; RVIZ; platforma Andymark; karta prostora; hector_slam; navigacija klikom
• Keywords (english): ROS; RVIZ; Andymark platform; mapping; hector_slam; click navigation
• Language: croatian
• URN:NBN: urn:nbn:hr:168:758169
• 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: 2020-01-07 16:29:05