SLAM postupak na eMIR mobilnom robotu

master's thesis

• Title (english): SLAM procedure on the eMIR mobile robot
• Author: Leon Tuček
• Mentor: Mladen Crneković (mentor)
• Granter: University of Zagreb; Faculty of Mechanical Engineering and Naval Architecture; Zagreb
• Defense date and country: 2022-12-15, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Mechanical Engineering; General Mechanical Engineering (Construction)

Abstract

Problem mapiranja i istovremenog lociranja u nepoznatom prostoru u robotici naziva se SLAM (engl. Simultaneous localization and mapping) te je jedan od temeljnih problema u autonomnoj robotici.

SLAM omogućuje mapiranje nepoznatog okruženja robota te se nastala mapa može koristiti za izvršavanje raznovrsnih zadataka uz pomoć poznavanja okoline robota. Neki od zadatka koje SLAM rješava su pronalazak optimalne putanje robota u mapiranom prostoru te izbjegavanje prepreka u stvarnom vremenu, odnosno robot može izbjegavati prepreke u promjenjivoj okolini. Temelj interakcije s okolinom velike većine autonomnih robota te automobila je upravo njihov SLAM sustav.

U ovom radu bit će obrađena izrada SLAM sustava uz pomoć 2D LIDAR senzora te implementacija istog na eMIR robota.

Abstract (english)

The problem of mapping and simultaneous localization in an unknown space in robotics is called SLAM (Simultaneous localization and mapping) and is one of the fundamental problems in autonomous robotics.

SLAM enables mapping of the robot unknown environment, the resulting map can be used to perform various tasks with the information about robot environment. Some of the tasks that SLAM enables solving are finding the optimal path of the robot in the mapped unknown space and avoiding obstacles in real time, i.e. the robot can avoid obstacles in a changing environment. The vast majority of autonomous robots and cars base their interaction with the environment on their SLAM systems.

This paper will deal with the development of a SLAM system with the help of a 2D LIDAR sensor and its implementation on the eMIR robot.

• Keywords: SLAM; Simultano lociranje i mapiranje; Lidar; Mobilni robot
• Keywords (english): SLAM; Simultaneous localization and mapping; Lidar; Mobile robot
• Language: croatian
• URN:NBN: urn:nbn:hr:235:015648
• Study programme: Title: Mechanical Engineering; specializations in: Design, Process and Energy Engineering, Production Engineering, Engineering Modelling and Computer Simulation, Marine Engineering, Industrial Engineering and Management, Materials Engineering, Mechatronics and Robotics, Autonomous Systems; Course: Mechatronics and Robotics; 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: 2022-11-28 11:20:20