| Abstract | Bespilotne letjelice ili popularnije dronovi, su sve više zastupljeni u znanosti i industriji za istraživanje i prikupljanje podatka zbog sposobnosti slobodnog gibanja u prostoru. Oni su iznimno korisni za mapiranje teško dostupnih mjesta kao što su zgrade, šume, mostovi i sl. Isto tako dronovi mogu brzo i efikasno prikupljati podatke sa velikih terena te sa velike udaljenosti i visine. Neki dronovi mogu podići i specifičan teret pa se mogu primijeniti i za spašavanje, gašenje požara i sl. Postoji velik broj različitih izvedba i tipova dronova no to najviše ovisi o njihovoj primjeni. Pošto je cilj ovog završnog rada bio napraviti virtualno 3D mapiranje zatvorenog prostora u simulatoru, koristio se dron s 4 propelera, odnosno kvadrokopter, pošto su ti dronovi najstabilniji i najlakše upravljivi.
Prije svega odrađeno je istraživanje o vrstama dronova, njihovoj primjeni i osnovnoj opremi. Zatim je provedeno istraživanje tržišta gotovih komercijalnih i istraživačkih dronova kako bi se mogao naći potencijalni dron za izvedivost 3D mapiranja. Nakon toga je bilo potrebno upoznati se sa ROS platformom, Gazebo simulatorom i URDF/SDF datotekama kako bi se mapiranje moglo provesti u virtualnom svijetu. Zatvoreni prostor koji se trebao mapirati je bio digitalni blizanac Laboratorija za računalnu inteligenciju u CRTA-i, kojeg je bilo potrebno samostalno modelirati u proizvoljnom programu kako bi što vjernije preslikavao stvarni prostor. Na kraju su se analizirali gotovi algoritmi za 3D mapiranje te implementacija istih na odabrani dron. U konačnici je provedeno 3D mapiranje željenog prostora. |
| Abstract (english) | Unmanned aerial vehicles, also known as drones, are increasingly represented in science and industry for research and data collection due to their ability to move freely in space. They are extremely useful for mapping of hard-to-reach places such as buildings, forests, bridges, etc. Likewise, drones can quickly and efficiently collect data from large terrains as well as from great distances and heights. Some drones can also lift a specific load, therefore they can be used for rescue, firefighting, etc. There are a large number of different designs and types of drones, but this mostly depends on their application. As the goal of this final work was to execute a virtual 3D mapping of an indoor space in the simulator, a drone with 4 propellers, i.e. a quadcopter, was used, since these drones are the most stable and easiest to control.
First of all, research was done on the types of drones, their application and basic equipment. A market survey of off-the-shelf commercial and research drones was then conducted to find a potential drone for 3D mapping. After that, it was necessary to become familiar with the ROS platform, Gazebo simulator and URDF/SDF files so that the mapping could be carried out in the virtual world. The closed space that needed to be mapped was a digital twin of the Computer Intelligence Laboratory at CRTA, that had to be independently modeled in an arbitrary program in order to map the real space as faithfully as possible. In the end, the finished algorithms for 3D mapping and their implementation on the selected drone were analyzed. Lastly, 3D mapping of the desired space was carried out. |
