Točnost lokalizacije mobilnog robota u unutarnjem prostoru zasnovan na laserskom senzoru udaljenosti

master's thesis

• Title (english): Localization accuracy of a mobile robot in indoor environments based on a laser range sensor
• Author: Nives Mustapić
• Mentor: Marija Seder (mentor)
• Committee member: Marija Seder (predsjednik povjerenstva)
• Committee member: Ivan Petrović (član povjerenstva)
• Committee member: Ivan Marković (član povjerenstva)
• Granter: University of Zagreb; Faculty of Electrical Engineering and Computing; Zagreb
• Defense date and country: 2021-02-24, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Electrical Engineering

Abstract

Zadatak diplomskog rada je ispitivanje točnosti lokalizacije mobilnog robota koristeći AMCL algoritam. Algoritam je implementiran unutar ROS paketa ‘amcl’. Uz prethodno izgradenu kartu prostora i očitanja laserskog senzora udaljenosti odreduje se pozicija i orijentacija mobilnog robota. U ROS operacijskom sustavu točnost je prvo ispitana u simulaciji, zatim i eksperimentalno na Husky mobilnom robotu. Provedeno je 6 eksperimenata gdje je u svakom ostvaren različit oblik gibanja robota kako bi se utvrdilo utječe li smjer i način skretanja na točnost lokalizacije. Rezultati su obrađeni također unutar ROS-a i prikazani grafički i tablično.

Abstract (english)

The task of the thesis is to examine the accuracy of the localization of a mobile robot using the AMCL algorithm. With the previously built map and distance laser sensor readings, the position and orientation of the mobile robot are determined. In ROS operating system, accuracy is firstly tested using simulation and then experimentally on a Husky mobile robot.
6 experiments were performed to determine whether the direction and way of rotation affect the accuracy of localization. The results were also processed within ROS and presented graphically and numerically.

• Keywords: Lokalizacija; ROS; AMCL; mobilna robotika; mapiranje; laserski senzor udaljenosti Velodyne; Husky mobilna platforma; OptiTrack
• Keywords (english): Localization; ROS; AMCL; mobile robotics; gmapping; LiDAR Velodyne; Husky mobile platform; OptiTrack
• Language: croatian
• URN:NBN: urn:nbn:hr:168:925356
• 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: 2023-01-13 13:18:11