Sistem za avtonomno navigacijo mobilnega robota v industrijskem okolju

Barukčić, Matej (author), Vrabič, Rok (mentor)

V industrijskih aplikacijah so vse pogosteje uporabljeni avtonomni mobilni roboti, ki za navigacijo ne potrebujejo talnih oznak. Magistrsko delo obravnava zasnovo sistema za avtonomno navigacijo mobilnega robota. Obstojeˇcemu mobilnemu robotu sta prigrajeni globinska kamera Intel RealSense D435 in sledilna kamera T265. Na podlagi globinske kamere se ustvari informacija o oddaljenosti sten in morebitnih ovir v okolici, medtem, ko se na podlagi sledilne kamere ustvari informacija o odometriji mobilnega robota. Senzorji in aktuatorji so integrirani z uporabo ogrodja Robot Operating System (ROS). Implementiran in testiran je algoritem hkratnega kartiranja in lokalizacije gmapping. Testiranje avtonomne navigacije je opravljeno na primeru laboratorijske delavnice.

• Language: Slovenian
• Keywords: robotika, lokalizacija, navigacija, kartiranje, slam metoda, ROS ogrodje, krmiljenje, avtonomno vodenje
• Work type: Master's thesis/paper
• Typology: 2.09 - Master's Thesis
• Organization: FS - Faculty of Mechanical Engineering
• Place of publishing: Ljubljana
• Publisher: [M. Barukčić]
• Year: 2020
• Number of pages: XXII, 63 str., [4] f. pril.
• PID: 20.500.12556/RUL-118611
• UDC: 007.52:681.5:004.896(043.2)
• COBISS.SI-ID: 28016643
• Publication date in RUL: 28.08.2020

Secondary language

• Language: English
• Title: A system for autonomous navigation of a mobile robot in an industrial environment

Abstract

In industrial applications, there is increasingly more need for autonomous mobile robots, which do not require floor markings to execute navigation. Master’s thesis deals with design of system for autonomous navigation of mobile robot. The existing mobile robot is equipped with depth Intel RealSense D435 and a tracking camera T265. Based on depth camera, the information about distance between robot and walls and possible obstacles in surroundings is created. Meanwhile, based on tracking camera, the information about odometry of mobile robot is created. Actuators and sensors are integrated with the use of Robot Operating System (ROS). Implemented and tested is the algorithm of simultaneous mapping and localization gmapping. Testing of autonomous navigation is performed on the example of laboratory workshop.

• Keywords: robotics, localization, navigation, mapping, slam method, ROS framework, control, autonomous navigation