Zasnova in izdelava avtonomnega robotskega vozila

ŠKRJANC, UROŠ (author), Jaklič, Aleš (mentor)

V okviru diplomske naloge sem se odločil izdelati in opisati proces izdelave majhnega robotskega vozila, ki bi poleg splošnih funkcij, kot so vožnja robota s tipkovnico in PS3 kompatibilno konzolo, zmogel tudi osnovno samostojno navigacijo po prostoru, kar vključuje izogibanje oviram, zaznavanje okolice in spreminjanje smeri glede na signale iz okolice. Sam robot bi moral biti zasnovan tako, da bi bil narejen iz poceni in splošno dostopnih komponent, da bi ga lahko po navodilih izdelal tudi posameznik brez posebnih znanj na področju robotike in ga nadgrajeval po svojih potrebah. Ker se je tekom izdelave izkazalo, da je globalna navigacija in obdelava slikovnega toka s kamere pri tako zastavljenem projektu zahtevna, sem se omejil na izogibanje oviram in navigacijo robota s pomočjo ukazov zakodiranih v QR kode. V okviru naloge pa sem zasnoval in izdelal tudi preprosto LIDAR napravo, ki je sposobna zadovoljivo poskenirati okolico, tako pridobljene podatke pa robot lahko uporabi za izogibanje oviram. Lahko rečem, da je projekt v okviru danih možnosti in omejitev dosegel svoj namen. Izdelal sem robota, ki je sposoben dokaj natančne osnovne navigacije po prostoru, tako samostojne kot tudi vodene. Na voljo pa so tudi programska koda, preprosta navodila in načrti ohišja za izdelavo robota. Vsi, ki jih zanima to področje, lahko na tej podlagi izdelanega robota nadgradijo, ali pa na principih, ki sem jih uporabil in opisal, zgradijo svojega.

• Language: Slovenian
• Keywords: robot, Raspberry Pi, avtonomna vožnja, ROS
• Work type: Bachelor thesis/paper
• Typology: 2.11 - Undergraduate Thesis
• Organization: FRI - Faculty of Computer and Information Science
• Year: 2020
• PID: 20.500.12556/RUL-114948
• COBISS.SI-ID: 1538561475
• Publication date in RUL: 31.03.2020

ŠKRJANC, UROŠ, 2020, Zasnova in izdelava avtonomnega robotskega vozila [online]. Bachelor’s thesis. [Accessed 16 April 2025]. Retrieved from: https://repozitorij.uni-lj.si/IzpisGradiva.php?lang=eng&id=114948

Secondary language

• Language: English
• Title: Design and Assembling of Autonomous Robotic Vehicle

Abstract

As part of my undergraduate thesis, I decided to design and describe the process of assembling a small robotic vehicle that, in addition to general features such as driving a robot with a keyboard and a PS3 compatible console, would also provide basic standalone plane navigation, which includes obstacle avoidance, ambient detection and modification directions relative to the signals from the surroundings. The robot itself should be designed to be made of inexpensive and widely available components, so that it can be made by an individual without special knowledge in robotics and upgraded according to their needs. As it turned out that during the construction process, global navigation and processing of the image stream from the camera in such a project was demanding. I limited myself to avoiding obstacles and navigating the robot with the help of commands encoded in QR codes. As part of the task, I also designed and built a simple LIDAR device capable of satisfactorily scanning the surroundings, and the data thus obtained can be used by the robot to avoid obstacles. I can say that the project has achieved its purpose within the given possibilities and limitations. I designed a robot that is capable of fairly accurate basic space navigation, both standalone and guided. Program code, easy-to-follow instructions and robot chasis plans are also available. Anyone interested in the field can build on this robot based on this or build their own on the principles I have used and described.

• Keywords: robot, Raspberry Pi, autonomous driving, ROS