Planiranje putanje mobilnog robota unutarnjim GPS sustavom

undergraduate thesis

• Title (english): Path planing of a mobile robot with indoor GPS system
• Author: Krešimir Hartl
• Mentor: Mladen Crneković (mentor)
• Granter: University of Zagreb; Faculty of Mechanical Engineering and Naval Architecture; Zagreb
• Defense date and country: 2024-09-24, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Interdisciplinary Technical Sciences

Abstract

Problem lociranja mobilnog robota jedan je od osnovnih problema robotike. Porastom korištenja mobilnih robota u zatvorenim prostorima poput tvornica, skladišta i domova, problem dobiva novu dimenziju. U ovom radu testirat će se mogućnost korištenja Marvelmind Indoor GPS sustava za lociranje u zatvorenom prostoru. Lokacija je potrebna mobilnim robotima kako bi se uspješno navodili do cilja. Testiranje sustava Marvelmind provodit će se navođenjem mobilnog robota metodom potencijalnih polja. Testiranja će biti obavljena u prostorima CRTA-e (Regional Center of Excellence for Robotic Technologies) korištenjem mobilnog robota ASTRO (Autonomus System for Teaching RObotics). Provjera uspješnosti rada sustava provodit će se korištenjem sustava OptiTrack. OptiTrack je provjereni sustav za lokalizaciju visoke točnosti. Kako bi se svi sustavi povezali koristit će se ROS2 sustav. Korištenjem ROS2 sustava ostvarit će se fleksibilnost i mogućnost jednostavne implementaciju sustava u kasnijim projektima. Cilj ovog rada je utvrditi može li se sustav Marvelmind koristiti za sigurno navođenje mobilnog robota u zatvorenom prostoru.

Abstract (english)

The problem of localizing mobile robots is one of the fundamental challenges in robotics. With the increasing utilization of mobile robots in enclosed environments such as factories, warehouses, and homes, this issue acquires a new dimension. This dissertation will evaluate the feasibility of employing the Marvelmind Indoor GPS system for indoor localization. Accurate localization is essential for mobile robots to navigate successfully to their destinations. The testing of the Marvelmind system will be conducted by guiding a mobile robot using the potential field method. The experiments will take place at CRTA (Regional Center of Excellence for Robotic Technologies) utilizing the ASTRO (Autonomous System for Teaching Robotics) mobile robot. The effectiveness of the system will be verified using the OptiTrack system, a proven high-accuracy localization solution. The ROS2 framework will be employed to integrate all systems. Utilizing ROS2 will provide flexibility and facilitate straightforward implementation in future projects. The objective of this study is to determine whether the Marvelmind system can be utilized for the safe navigation of mobile robots in indoor environments.

• Keywords: Marvelmind; OptiTrack; GPS; Lociranje; Navođenje; Metoda potencijalnih polja; ASTRO; Mobilni roboti; ROS2
• Keywords (english): Marvelmind; OptiTrack; GPS; Localization; Navigation; Potential Field Method; ASTRO; Mobile Robots; ROS2
• Language: croatian
• URN:NBN: urn:nbn:hr:235:549700
• Study programme: Title: Mechatronics and Robotics; Study programme type: university; Study level: undergraduate; Academic / professional title: sveučilišni/a prvostupnik/prvostupnica (baccalaureus/baccalaurea) inženjer/inženjerka mehatronike i robotike (sveučilišni/a prvostupnik/prvostupnica (baccalaureus/baccalaurea) inženjer/inženjerka mehatronike i robotike)
• Type of resource: Text
• File origin: Born digital
• Access conditions: Open access
• Created on: 2024-09-20 11:27:58