Spletni vmesnik za upravljanje sistema mobilnih robotov

Plahuta, Barbara (author), Vrabič, Rok (mentor)

Razvoj mikroelektronike in informacijsko-komunikacijskih tehnologij je omogočil velik napredek na področjih robotike, avtomatizacije proizvodnje in računalniškega vodenja naprav. Z nadaljnjim razvojem brezžičnih komunikacijskih tehnologij je postalo upravljanje sistemov na daljavo, tudi sistemov, namenjenih izobraževanju, vse bolj aktualno, saj se povečuje delež izobraževanja in dela na daljavo. V tej magistrski nalogi je predstavljen spletni vmesnik za upravljanje in nadziranje sistema mobilnih robotov preko robotskega operacijskega sistema ROS v izobraževalne in raziskovalne namene. Uporabniku omogoča dostop do simuliranega ali realnega okolja prek spleta v realnem času. Z uporabo spletnega vmesnika je analiziran vpliv števila robotov na odzivnost sistema ter razlike med uporabo simulacije in uporabo realnega sistema na odzivnost mobilnih robotov. Opazili smo, da ima v simuliranem okolju pri izračunu odometrije informacija o hitrostih in pospeških večjo težo, kot podatek o lokaciji robotov v prostoru.

• Language: Slovenian
• Keywords: robotika, izobraževalna robotika, mobilni roboti, vodenje na daljavo, spletni vmesnik, ROS platforma
• Work type: Master's thesis/paper
• Typology: 2.09 - Master's Thesis
• Organization: FS - Faculty of Mechanical Engineering
• Place of publishing: Ljubljana
• Publisher: [B. Plahuta]
• Year: 2020
• Number of pages: XX, 52 str.
• PID: 20.500.12556/RUL-119345
• UDC: 007.52:004.5:681.5(043.2)
• COBISS.SI-ID: 28665603
• Publication date in RUL: 08.09.2020

Secondary language

• Language: English
• Title: A web-based control room for a system of mobile robots

Abstract

The development of microelectronics and information-communication technologies has enabled great progress in the fields of robotics, industrial automation, and computer control. With the further development of wireless communication technologies, the management of remote controlled systems, including systems intended for education, has become increasingly more important, as the share of education and distance work is increasing. In this master's thesis, we present a web interface for the management and control of a mobile robot system with the use of robotic operating system ROS, for educational and research purposes. Web interface allows the user to access a simulated or real environment via the web in real time. Using the web interface, we analyzed the influence of the number of robots on the responsiveness of the system and the differences between the use of simulation and the use of a real system on the responsiveness of mobile robots. When calculating odometry in the simulated environment, the information on velocities and accelerations is more important than the data on the location of robots.

• Keywords: robotics, educational robotics, mobile robots, remote control, web interface, ROS platform