20.500.12556/RUL-117035 Sistem za navigacijo mobilnih robotov na osnovi sledenja s kamero A mobile robot navigation system based on a tracking camera Mobilni roboti predstavljajo v sodobni industriji vse večji delež logističnih enot. Pametne tovarne so v vse večji meri že opremljene z avtonomno vodenimi roboti. Pri navigaciji le-teh je potrebno ves čas poznati trenutno lego robota in zaznavati omejitve gibanja v okolici. Ker je zanesljivo zaznavanje lege samo s senzorji na robotu zahtevno, so pri reševanju tega problema pogosto uporabljeni zunanji senzorji. V tem delu so predstavljene metode navigacije mobilnih robotov na osnovi kamere in strojnega vida. Opisana je izdelava programske opreme in simulacijskega okolja v programskem okolju ROS in simulatorju Gazebo. Za sledenje sistemu večih mobilnih robotov v prostoru z ovirami se uporabljajo oznake obogatene resničnosti (AR), ki jim je možno slediti s pomočjo knjižnice Alvar. Sistem je testiran in ovrednoten v scenarijih različne zahtevnosti in okoljih z in brez ovir. Ugotovljeno je, da roboti v vseh scenarijih dosegajo zahtevane končne lege z ustrezno natančnostjo ( Mobile robots represent an increasing share of logistics units in modern industry. Smart factories are already increasingly equipped with autonomously guided robots. When navigating robots, it is necessary to know the current position of the robot at all times as well as detect restriction movements in the surroundings. Since reliable position detection with only sensors mounted on the robot is demanding, external sensors are often used to solve this problem. In this thesis, navigation methods based on camera and machine vision are presented. The development of software and simulation environment in ROS software and Gazebo simulator is also described. Augmented reality (AR) tags are used to track the system of multiple robots in environment with obstacles, using the Alvar library. The system is tested and evaluated through scenarios of different complexity and environments with and without obstacles. It was found that the robots in all scenarios achieve the required end positions with appropriate accuracy ( mobilni roboti obogatena resničnost navigacija slikovni sistemi sledenje ROS platforma Alvar knjižnica mobile robots augmented reality navigation image systems tracking ROS platform Alvar library true false false [M. Avguštinčič] Slovenski jezik Angleški jezik Magistrsko delo/naloga 2020-06-20 08:30:53 2020-06-20 08:31:00 2022-08-29 03:40:39 0000-00-00 00:00:00 2020 0 Ljubljana 0 XXII, 56 str. 0000-00-00 NiDoloceno NiDoloceno NiDoloceno 0000-00-00 0000-00-00 0000-00-00 007.52:681.5:004.4(043.2) 220205 21274627 5190.pdf 5190.pdf 1 C7889CC5FB9DBBBF54A7E98423FD97A5 0e060f262ff4d3ca0c922201f4f28036f65fa977f20de3c1609758528e9fe317 14b3baf2-a1b9-11eb-a523-00155dcfd717 https://repozitorij.uni-lj.si/Dokument.php?lang=slv&id=130821 Fakulteta za strojništvo 0 0 0