20.500.12556/RUL-109817
Razvoj krmilnika za simulirano avtonomno vozilo na osnovi kamere in lidarja
Development of a controller for a simulated autonomous vehicle based on camera and lidar
V sklopu naloge je obravnavan problem krmilnika avtonomnega vozila v simuliranem okolju. Na vozilu je namešcena kamera, s katero zajemamo slike okolice vozila, ki jih obdelamo s pomočjo strojnega vida. Na ta način lahko krmilnik regulira položaj vozila, da ta sledi vozišču. Na podoben način je implementirano tudi ustavljanje vozila na semaforju. Na vozilu je nameščen tudi lidar sistem, ki nam posreduje podatke o okolici vozila. Te podatke obdelamo, da zaznamo ovire na vozišču in se jim izognemo. Problem je rešen v simuliranem okolju WeBots s pomočjo programskega jezika C.
This thesis deals with a controller of an autonomous vehicle in a simulated environment. The vehicle has a mounted camera that captures images of the environment around the vehicle. The images are then processed by passing them through a machine vision algorithm. This allows the controller to regulate the position of the vehicle to follow the driveway. Another feature of the controller, stopping at traffic lights, is implemented in a similar fashion. The vehicle also has a mounted lidar system that supplies us with information of objects in the proximity of the vehicle. This data is then processed in order to detect and avoid obstacles on the driveway. The solution is coded in the C programming language in the WeBots robotics simulator.
avtonomna vozila
strojni vid
lidar
simulatorji robotike
klasifikacija
segmentacija
autonomous vehicles
computer vision
lidar
robotics simulators
classification
segmentation
true
false
false
[Ž. Likar]
Slovenski jezik
Angleški jezik
Zaključna naloga
2019-09-09 07:15:05
2019-09-09 07:15:09
2022-08-21 03:44:41
0000-00-00 00:00:00
2019
0
Ljubljana
0
X, 33 f.
0000-00-00
NiDoloceno
NiDoloceno
NiDoloceno
0000-00-00
0000-00-00
0000-00-00
007.52:681.5(043.2)
216198
16934427
4237.pdf
4237.pdf
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https://repozitorij.uni-lj.si/Dokument.php?lang=slv&id=121418
4238.c
4238.c
1
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95935279b4908414c80883e37fc36cd7db9bb2fbafd3912592046abc01607889
f737dba7-a1b6-11eb-a523-00155dcfd717
https://repozitorij.uni-lj.si/Dokument.php?lang=slv&id=121419
Fakulteta za strojništvo
0
0
0