Primerjava različne strojne opreme za navigacijo mobilnih robotov

KOTNIK KLOVAR, ŽIGA (author), Skočaj, Danijel (mentor)

V diplomskem delu smo preučevali razliko med delovanjem robotov in senzorjev glede na cenovni razred in princip njihovega delovanja. Opremo smo evalvirali v treh različnih fazah. V prvi fazi smo evalvirali delovanje senzorjev, v drugi delovanje robotov in v tretji kombinacijo robotov in senzorjev. Pri eksperimentiranju smo uporabljali senzorje Kinect, Astra Pro, Kinect 2 in URG-04LX ter robota TurtleBot in Pioneer 3-DX. Eksperimente smo opravlili z uporabo robotskega operacijskega sistema ROS, ki olajša programiranje z različnimi roboti in senzorji. Rezultati so pokazali, da je med senzorji najbolje deloval Kinect 2 in med roboti Pioneer 3-DX. Najboljša kombinacija je bila Pioneer 3-DX s senzorjem URG-04LX.

• Language: Slovenian
• Keywords: SLAM, robot, senzor
• Work type: Bachelor thesis/paper
• Organization: FRI - Faculty of Computer and Information Science
• Year: 2018
• PID: 20.500.12556/RUL-102685
• Publication date in RUL: 06.09.2018

Secondary language

• Language: English
• Title: Comparison of different hardware units for mobile robot navigation

Abstract

We were interested in difference of operation between robots and sensors that differ in price and technology they use. We tested them in three different phases. In the first phase we tested operation of sensors, in the second phase we tested operation of robots and in the last phase we tested combination of robots and sensors. In tests we used four different sensors: Kinect, Astra Pro, Kinect 2 and URG-04LX and we used two different robots: Roomba and Pioneer 3-DX. During tests we used Robot Operating System (ROS). Kinect 2 showed the best performance among the sensors. Pioneer 3-DX was the best performing robot and best combination was Pioneer 3-DX with URG-04LX.

• Keywords: SLAM, robot, sensor