20.500.12556/RUL-162504 Integracija mobilnega robota z virtualnim okoljem Integration of a mobile robot with a virtual environment Vdiplomski nalogi je opisan razvoj sistema vodenja mobilnega robota Pololu 3pi+ povezanega v ROS (ang. Robot Operating System) sistem z namenom navigacije le tega. V sklopu ROS sistema se sprva vzpostavi nizkoenergijska Bluetooth (ang. Bluetooth Low Energy– BLE) povezava, preko katere poteka dvosmerna komunikacija med robotom in raˇ cunalnikom. V okviru ROS sistema spremljamo odometrijo mobilnega robota, ki v povezavi z regulatorjem, vodi robota mimo ovir do ciljne toˇcke. V prvem primeru uporabljamo virtualnega robota v virtualnem okolju, ki ga omogoˇca A* algoritem. Sistem nadgradimo z realnim mobilnim robotom v virtualnem okolju, nenazadnje navidezno okolje ponazorimo z realnimi ovirami. In the thesis, the development of a control system for the Pololu 3pi+ mobile robot connected to the ROS (Robot Operating System) is described with the aim of navigation. Within the ROS system, a Bluetooth Low Energy (BLE) connection is first established, which enables two-way communication between the robot and the computer. Within the ROS system, we monitor the odometry of the mobile robot, which, in conjunction with the controller, guides the robot past obstacles to the target point. In the first case, we use a virtual robot in a virtual environment, enabled by the A* algorithm. The system is upgraded with a real mobile robot in a virtual environment, and finally, the virtual environment is augmented with real obstacles. Pololu 3pi+ ROS odometrija vodenje navidezno okolje re gulacija A* algoritem Pololu 3pi+ ROS odometry mobile control virtual environment regulation A* algorithm true false false Slovenski jezik Angleški jezik Diplomsko delo/naloga 2024-09-24 13:30:13 2024-09-24 13:30:17 2024-09-28 03:39:16 0000-00-00 00:00:00 2024 0 0 0000-00-00 NiDoloceno NiDoloceno NiDoloceno 0000-00-00 0000-00-00 0000-00-00 62544 208769027 Papez_Mark_-_Integracija_mobilnega_robota_z_virtualnim_okoljem.pdf Papez_Mark_-_Integracija_mobilnega_robota_z_virtualnim_okoljem.pdf 1 582F365A430491C7A5D26781858FAEDE 5b256d3b3c2f93ef602da084ce71f2cbdafd6aac64c7c7b85a1e00d560791897 40f627d2-7a68-11ef-b232-0050569b8976 https://repozitorij.uni-lj.si/Dokument.php?lang=slv&id=191848 Fakulteta za elektrotehniko 0 0 0