Simulacija navigacije robota u zahtjevnom okruženju

undergraduate thesis

• Title (english): Simulating Robot Navigation in Difficult Enviroments
• Author: Marko Puk
• Mentor: Vladimir Čeperić (mentor)
• Committee member: Vladimir Čeperić (predsjednik povjerenstva)
• Committee member: Ivan Grubišić (član povjerenstva)
• Committee member: Igor Stančin (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; Computing

Abstract

Tema ovog rada je simulacija navigacije robota u zahtjevnom okruženju. U uvodu je navedena
upotreba simulacija u automobilskoj industriji i razlozi njihove primjene. Kroz rad je opisan
problem i postojeći načini simulacije robota i njihovog kretanja u zahtjevnom okruženju.
Napravljeni su i demonstrirani primjeri u programskom okruženju Gazebo i V-REP. Primjeri su
se razlikovali u broju i vrsti senzora te okolini simulacije. U zaključku se navode prednosti
svakog testiranog robota i potencijalno područje primjene za koje je pogodan te zaključci
izvedeni o testiranim programima.

Abstract (english)

The topic of this paper is the simulation of robot navigation in demanding environments. The
introduction introduces the use of simulations in the automotive industry and the reasons for
their application. The paper describes the problem and the existing ways of robot simulation
and their movement in a demanding environment. Examples of the Gazebo and V-REP
programming scenarios were developed and demonstrated. The examples differed in the
number and type of the sensor and the environment of the simulation. The conclusion states
the benefits of each tested robot and the potential scope of application for which it is
appropriate and the conclusions drawn from the tested programs.

• Keywords: ROS; V-REP; Gazebo; RViz; SLAM algoritam; Simulacija navigacije robota
• Keywords (english): ROS; V-REP; Gazebo; RViz; SLAM algorithm; Simulation of robot navigation
• Language: croatian
• URN:NBN: urn:nbn:hr:168:669683
• 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: 2020-01-07 21:39:23