The aim of the bachelor's thesis is the implementation and extensive evaluation of various methods of navigation and localization which take into account robot commands and odometry data and their upgrade with the detection of static markers. The system was implemented using the ROS framework, at first in the Gazebo simulator and then on the Turtlebot mobile platform. The description of the used hardware and software is followed by a more in-depth look into the implemented methods and system variants where the variants are distinguished by the localization method, environmental limitations, and the ability to detect reference markers. Finally, an evaluation of the presented versions is carried out.
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