Stereo vizualno upravljanje mobilnim robotom

undergraduate thesis

• Title (english): Stereo visual control of the mobile robot
• Author: Ena Car
• Mentor: Ivan Marković (mentor)
• Committee member: Ivan Marković (predsjednik povjerenstva)
• Committee member: Goran Popović (član povjerenstva)
• Committee member: Anđela Jurić (član povjerenstva)
• Granter: University of Zagreb; Faculty of Electrical Engineering and Computing; Zagreb
• Defense date and country: 2021-07-08, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Electrical Engineering

Abstract

U radu je ostvareno upravljanje mobilnim robotom TurtleBot3 Waffle korištenjem podataka stereo kamere Intel RealSense D435. Opisano je korisničko sučelje pomoću kojeg se ostvaruje ručno ili autonomno upravljanje robotom, način dobivanja dubinske slike stereo kamerom te način pristupanja internim podacima robota. Prikazano je ostvarenje komunikacije s robotom korištenjem Robotskog operacijskog sustava. Odabirom cilja u prostoru i označavanjem robota na trenutnoj slici prostora, kamerom se određuju njihove lokacije te njihov relativan odnos. Obradom informacija dobivenih kamerom, dobivaju se upravljačke veličine kojima se regulira brzina kretanja robota prema unaprijed odabranom cilju. Vladanje sustava ovisi o ograničenjima koja se postave nad upravljačkom veličinom te je važno unaprijed odrediti željeno vladanje sustava kako bi se postavili ispravni parametri.

Abstract (english)

This paper controls the mobile robot TurtleBot3 Waffle using data from the stereo camera Intel RealSense D435. The user interface, which is described, is used for manual or autonomous control of the robot, the method of obtaining an in-depth image with a stereo camera and the method of accessing the internal data of the robot. The realization of communication with a robot using the Robotic operating system is shown. By selecting a target in space and marking the robot in the current image of the space, the camera determines their locations and their relative relationship. Control variables, which regulate the speed of the robot according to a pre-selected target, are obtained by processing the information obtained by camera. System behavior depends on the constraints placed on the control variable and it is important to predetermine the desired system behavior in order to set the correct parameters.

• Keywords: Mobilni robot; Stereo kamera; Robotski operacijski sustav
• Keywords (english): Mobile robot; Stereo camera; Robot operating system
• Language: croatian
• URN:NBN: urn:nbn:hr:168:392870
• 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: 2023-01-14 08:36:44