SLAM postupak s dvostrukim ultrazvučnim daljinomjerom

master's thesis

• Title (english): SLAM procedure with dual ultrasonic range finder
• Author: Dominik Smolec
• Mentor: Mladen Crneković (mentor)
• Granter: University of Zagreb; Faculty of Mechanical Engineering and Naval Architecture; Zagreb
• Defense date and country: 2024-03-28, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Mechanical Engineering

Abstract

Diplomski rad istražuje primjenu SLAM (Simultaneous Localization and Mapping) postupka primjenom Lidar senzora, ključnog za precizno određivanje položaja i mapiranje okoline mobilnog robota. Kombinirajući informacije o unutarnjim stanjima kroz odometriju i vanjskim stanjima putem Lidar-a, postiže se precizna procjena položaja i orijentacije robota u zadanoj okolini. Korištenjem odabranog Lidar-a, generiraju se podaci o stanju okoline poput smjera i udaljenosti prepreka, dok se pomoću enkodera prikupljaju odometrijski podaci o prijeđenom putu i skretanju. Konačno, rezultati SLAM postupka i procijenjeni položaj i orijentacija robota grafički se prikazuju, pružajući vizualni uvid u okolinu i lokaciju robota.
Rad ima za cilj doprinijeti razumijevanju i implementaciji SLAM postupka, pomoću jednostavnih i široko dostupnih uređaja, što može imati značajne implikacije u području razvoja mobilnih robota. Kroz praktičnu primjenu u realnom okruženju, ovaj rad može potaknuti daljnja istraživanja i razvoj u području robotike, posebno u autonomnoj navigaciji i mapiranju okoline.

Abstract (english)

The master's thesis explores the application of the SLAM (Simultaneous Localization and Mapping) procedure utilizing Lidar sensors, crucial for accurately determining the position and mapping the environment of a mobile robot. By combining information on internal states through odometry and external states via Lidar, a precise estimation of the robot's position and orientation in the given environment is achieved. Using the selected Lidar, environmental data such as direction and obstacle distance are generated, while odometric data on traveled distance and steering are collected using encoders. Finally, the results of the SLAM procedure and the estimated position and orientation of the robot are graphically displayed, providing a visual insight into the environment and robot location.
The aim of the paper is to contribute to the understanding and implementation of the SLAM procedure, using simple and widely available devices, which could have significant implications in the field of mobile robot development. Through practical application in a real environment, this paper may stimulate further research and development in the field of robotics, particularly in autonomous navigation and environment mapping.

• Keywords: Mobilni robot; SLAM; senzori; mapiranje
• Keywords (english): Mobile robot; SLAM; sensors; mapping
• Language: croatian
• URN:NBN: urn:nbn:hr:235:237151
• Study programme: Title: Mechanical Engineering; Study programme type: university; Study level: graduate; Academic / professional title: magistar/magistra inženjer/inženjerka strojarstva (magistar/magistra inženjer/inženjerka strojarstva)
• Type of resource: Text
• File origin: Born digital
• Access conditions: Open access
• Created on: 2024-03-21 13:14:22