Analiza navigacijskega sistema mobilnega robota Turtlebot2

Gašperin, Žiga (author), Vrabič, Rok (mentor)

V modernem svetu se povečuje želja ter potreba po opravljanju lažjih del z roboti. V zaključnem delu smo se posvetili razumevanju strojno-programske opreme ROS (ang. Robot Operating System), simuliranju robotov znotraj simulatorja Gazebo, uporabi osnovnih paketov robota Turtlebot 2 ter razumevanju navigacije mobilnih robotov. Naredili smo program za robota Turtlebot 2, ki omogoča premikanje robota po želenih točkah. Primerjali smo dva različna načina načrtovanja lokalnih poti, TEB (ang. Timed Elastic Band) in DWA (ang. Dynamic Window Approach). TEB je lokalni načrtovalec poti optimiziran za umikanje oviram pri velikih hitrostih medtem, ko je DWA lokalni načrtovalec bolj zanesljiv. Rezultati potrjujejo predpostavko, da je TEB lokalni načrtovalec poti boljši za hitrostno umikanje oviram, DWA lokalni načrtovalec pa je bolj zanesljiv pri doseganju danih ciljev.

• Language: Slovenian
• Keywords: robotika, roboti, Turtlebot, sestavljanje, navigacija, karte, amcl, načrtovalci poti, navigacijski sistem, načrtovanje poti
• Work type: Final paper
• Typology: 2.11 - Undergraduate Thesis
• Organization: FS - Faculty of Mechanical Engineering
• Place of publishing: Ljubljana
• Publisher: [Ž. Gašperin]
• Year: 2020
• Number of pages: XI, 23 f.
• PID: 20.500.12556/RUL-119763
• UDC: 007.52:004.45(043.2)
• COBISS.SI-ID: 30891011
• Publication date in RUL: 11.09.2020

Secondary language

• Language: English
• Title: Analysis of the navigation stack of the Turtlebot 2 mobile robot

Abstract

In modern world there is increasing desire to replace easier jobs with robots. In final work we dedicated ourselves to understanding system ROS, simulating with simulator Gazebo, use of basic packages for robot Turtlebot 2 and understanding the navigation of mobile robots. We made a program which enables us checkpoint-based movement of Turtlebot 2. We compared TEB and DWA local planners. TEB is a local planner made to finish the path as quick as possible meanwhile DWA local planner is made to be more reliable at achieving given goals. Results confirm our assumptions that TEB local planner is better at avoidance of obstacles at higher speeds and DWA is more reliable at achieving given goal were correct.

• Keywords: robotics, robots, Turtlebot, assembly, navigation, maps, amcl, path planners, navigation stack, path planning