Integracija mobilnega robota z virtualnim okoljem

Papež, Mark (author), Mihelj, Matjaž (mentor), Šlajpah, Sebastjan (comentor)

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.

• Language: Slovenian
• Keywords: Pololu 3pi+, ROS, odometrija, vodenje, navidezno okolje, re gulacija, A* algoritem
• Work type: Bachelor thesis/paper
• Typology: 2.11 - Undergraduate Thesis
• Organization: FE - Faculty of Electrical Engineering
• Year: 2024
• PID: 20.500.12556/RUL-162504
• COBISS.SI-ID: 208769027
• Publication date in RUL: 24.09.2024

Secondary language

• Language: English
• Title: Integration of a mobile robot with a virtual environment

Abstract

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.

• Keywords: Pololu 3pi+, ROS, odometry, mobile control, virtual environment, regulation, A* algorithm