Navigacija mobilnog robota hodača primjenom globalnog sustava satelitske navigacije (GNSS)

master's thesis

• Title (english): Outdoor navigation of a quadruped walking mobile robot using global navigation satellite system (GNSS)
• Author: Filip Miklaužić
• Mentor: Marko Švaco (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

Primjena globalnog sustava satelitske navigacije postaje sve važnija u procesima lokalizacije i navigacije mobilnih robota, pružajući informacije o trenutnoj globalnoj poziciji robota. Jedan od najpoznatijih satelitskih radionavigacijskih sustava za određivanje položaja na zemlji ili u njezinoj neposrednoj blizini je sustav za globalno pozicioniranje (engl. Global Positioning System, GPS). Fuzijom podataka dobivenih od strane globalnog sustava satelitske navigacije (engl. global navigation satelite system, GNSS) s podacima inercijalne mjerne jedinice (engl. Inertial Measurement Unit, IMU) te odometrije robota, moguće je povećati točnost lokalizacije robota u prostoru. Roboti hodači predstavljaju inovativnu kategoriju mobilnih robota te su zbog svoje prilagodljivosti i sposobnosti kretanja na različitim vrstama površina i konfiguracija terena posebice relevantni u vanjskom okruženju. Integracijom ovdje navedenih tehnologija moguće je povećati autonomiju robotskih sustava te unaprijediti točnost i otpornost na rad u vanjskim prostorima. U okviru diplomskog rada istražena je mogućnost primjene mobilnog robota Boston Dynamics Spot u kombinaciji s odabranim GNSS sustavom. Nadalje, uspostavljena je komunikacija između robota i nadređenog upravljačkog računala s ciljem upravljanja prostornim položajem robota unutar zadane mape. Također, istraženi su sustavi GNSS navigacije, pri čemu je odabran sustav poboljšane kinematike u stvarnom vremenu (engl. Real Time Kinematic, RTK) namijenjen povećanju apsolutne točnosti, što ga čini prikladnim za dobiveni zadatak. Fuzijom podataka GPS-RTK sustava povećane točnosti, odometrije robota te IMU jedinice omogućena je neprekidna lokalizacija robota u vanjskom prostoru unutar zadane mape. Također, istraženi su i primijenjeni globalni planeri putanje za navigaciju temeljenu na GNSS koordinatama, uz eksperimentalnu validaciju sustava lokalizacije i navigacije robota unutar zadane mape.

Abstract (english)

The application of the global satellite navigation system is becoming increasingly important in the localization and navigation processes of mobile robots, providing information about the robot's current global position. One of the most well-known satellite radio navigation systems for determining position on or near the Earth is the Global Positioning System (GPS). By fusing data obtained from the global navigation satellite system (GNSS) with data from the Inertial Measurement Unit (IMU) and robot odometry, it is possible to increase the accuracy of robot localization in space. Quadruped robots represent an innovative category of mobile robots and are particularly relevant in outdoor environments due to their adaptability and ability to move on various types of surfaces and terrain configurations. Integrating the technologies mentioned in this master thesis can increase the autonomy of robotic systems and improve accuracy and resilience to outdoor workspaces. In the context of this thesis, the possibility of applying the Boston Dynamics Spot mobile robot in combination with a selected GNSS system was investigated. Furthermore, communication was established between the robot and the superior control computer to control the robot's spatial position within the specified map. Additionally, GNSS navigation systems were explored, with a focus on the Real Time Kinematic (RTK) system for improved real-time kinematics, making it suitable for the given task. By fusing data from the GPS-RTK system, increased odometry, and IMU unit, continuous localization of the robot in outdoor spaces within the specified map was enabled. Furthermore, global path planning algorithms for navigation based on GNSS coordinates were explored and applied, with experimental validation of the robot's localization and navigation systems within the specified map.

• Keywords: robotski operativni sustav; globalni sustav satelitske navigacije; sustavi navigacije poboljšane apsolutne točnosti; fuzija podataka
• Keywords (english): robotic operating system; global navigation satellite system; enhanced absolute accuracy navigation systems; data fusion
• Language: croatian
• URN:NBN: urn:nbn:hr:235:295118
• 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: 2024-03-22 12:33:12