Vizualizacija podataka mobilnoga robota pomoću Microsoft HoloLens naočala za proširenu stvarnost

undergraduate thesis

• Title (english): Mobile robot data visualization using Microsoft HoloLens augmented reality glasses
• Author: Luka Buljan
• Mentor: Marija Seder (mentor)
• Committee member: Marija Seder (predsjednik povjerenstva)
• Committee member: Ana Šelek (član povjerenstva)
• Committee member: Luka Petrović (član povjerenstva)
• Granter: University of Zagreb; Faculty of Electrical Engineering and Computing; Zagreb
• Defense date and country: 2020-07-03, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Electrical Engineering

Abstract

U ovome radu obrađuje se implementacija algoritama za mapiranje i autonomnu navigaciju robota u prostoru koristeći Robotski Operativni Sustav (ROS). Kako bi se to ostvarilo, potrebno je pohraniti datoteke koje sadrže algoritm u računalo robota ili ostvariti bežičnu vezu između robota i uređaja u kojemu su pohranjene datoteke (tj. algoritmi). Veza između robota i korisnika omogućava se HoloLens naočalama tvrtke Microsoft koje će prikazivati virtualno sučelje za kontrolu robota. Pošto je potrebno ostvariti vezu između virtualnoga sučelja napravljenoga u aplikaciji napravljenoj u programskome jeziku C# koji ROS ne može interpretirati, koristi se softversko rješenje tvrtke Siemens zvano ROS# (ROS Sharp).

Abstract (english)

This paper deals with implementation of mapping and autonomous navigation algorithms usong Robot Operating System (ROS). To achieve this task it is neccessary to store files containing the algorithms in the computer of the robot or enable a wireless connection between the robot and a device containing the neccessary files. A connection between the user is achieved with a HoloLens device created by Microsoft, which will display a virtual interface, thus enabling the control of the robot. Since it is neccessary to establish a connection between the virtual interface based on C# (which ROS cannot interpret), usage of a set of open source libraries called ROS# (ROS Sharp) developed by Siemens was obligatory.

• Keywords: navigacija; mapiranje; odometrija; robotika; TurtleBot3.
• Keywords (english): navigation; mapping; odometry; robotics; TurtleBot3
• Language: croatian
• URN:NBN: urn:nbn:hr:168:334253
• 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: 2023-01-13 14:38:56