Planiranje kretanja i ispitivanje točnosti pozicioniranja mobilnog robota

master's thesis

• Title (english): Motion planning and positioning accuracy validation of a mobile robot
• Author: Branimir Ćaran
• Mentor: Marko Švaco (mentor)
• Granter: University of Zagreb; Faculty of Mechanical Engineering and Naval Architecture; Zagreb
• Defense date and country: 2021-07-14, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Electrical Engineering; Automation and Robotics

Abstract

Zadatak diplomskog rada je implementirati algoritme mapiranja, lokalizacije i navigacije u robotskom operativnom sustavu (ROS) na mobilnog robota. Osim implementacije navedenih procesa, detaljno su objašnjeni svi parametri koje je potrebno podesiti za adekvatan rad čvorova koji omogućavaju implementaciju navedenih algoritama. Zbog potrebe za što preciznijim mapiranjem, lokalizacijom i navigacijom, u ovom radu su detaljno objašnjeni i eksperimentalno provedeni procesi kalibracije odometrije mobilnog robota i pozicije lidar senzora. Osim kalibracije mobilnog robota u svrhu što točnije navigacije i pozicioniranja robota, detaljno su objašnjena, implementirana i testirana tri lokalna planera koji se mogu pronaći u sklopu ROSa. U svrhu provjere tri lokalna planera, korišten je P regulator pozicije s kojim su se planeri nakraju usporedili.

Abstract (english)

The task of this Master’s thesis is to implement mapping, localization and navigation algorithms in a robotic operating system (ROS) on a mobile robot. In addition to the implementation of these processes, all the parameters that need to be set for adequate operation of the nodes that allow the implementation of these algorithms are explained in detail. Due to the need for the most precise mapping, localization and navigation, this thesis explains in detail and experimentally performed the processes of mobile robot odometry calibration and lidar sensor position. In addition to the calibration of the mobile robot for the purpose of more accurate navigation and positioning of the robot, three local planners that can be found within the ROS were explained, implemented and tested in detail. In order to check the three local planners, a position P regulator was used with which the planners were eventually compared.

• Keywords: mobilni robot; robotski operativni sustav; ROS; mapiranje; lokalizacija; navigacija; kalibracija odometrije; lokalni planer
• Keywords (english): mobile robot; robotic operating system; ROS; mapping; localization; navigation; odometry calibration; local planners
• Language: croatian
• URN:NBN: urn:nbn:hr:235:909761
• 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: 2021-07-09 17:22:02