Planiranje kretanja i ispitivanje točnosti pozicioniranja mobilnog robota

Ćaran, Branimir

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master's thesis

Planiranje kretanja i ispitivanje točnosti pozicioniranja mobilnog robota

Zagreb: University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, 2021. urn:nbn:hr:235:909761

Ćaran, Branimir

University of Zagreb
Faculty of Mechanical Engineering and Naval Architecture

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APA 6th Edition

Ćaran, B. (2021). Planiranje kretanja i ispitivanje točnosti pozicioniranja mobilnog robota (Master's thesis). Zagreb: University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture. Retrieved from https://urn.nsk.hr/urn:nbn:hr:235:909761

MLA 8th Edition

Ćaran, Branimir. "Planiranje kretanja i ispitivanje točnosti pozicioniranja mobilnog robota." Master's thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, 2021. https://urn.nsk.hr/urn:nbn:hr:235:909761

Chicago 17th Edition

Harvard

Ćaran, B. (2021). 'Planiranje kretanja i ispitivanje točnosti pozicioniranja mobilnog robota', Master's thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, accessed 21 November 2024, https://urn.nsk.hr/urn:nbn:hr:235:909761

Vancouver

Ćaran B. Planiranje kretanja i ispitivanje točnosti pozicioniranja mobilnog robota [Master's thesis]. Zagreb: University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture; 2021 [cited 2024 November 21] Available at: https://urn.nsk.hr/urn:nbn:hr:235:909761

IEEE

B. Ćaran, "Planiranje kretanja i ispitivanje točnosti pozicioniranja mobilnog robota", Master's thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, Zagreb, 2021. Available at: https://urn.nsk.hr/urn:nbn:hr:235:909761

Cite this item: https://urn.nsk.hr/urn:nbn:hr:235:909761

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Metadata

Title	Planiranje kretanja i ispitivanje točnosti pozicioniranja mobilnog robota
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
Keywords (english)
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
Terms of use
Repository	Repository of Faculty of Mechanical Engineering and Naval Architecture University of Zagreb
Created on	2021-07-09 17:22:02