Lokalizacija robota v prostoru z uporabo stereo kamere Intel RealSense T265 : diplomsko delo

Škrlep, Klemen (author), Klančar, Gregor (mentor), Zdešar, Andrej (co-mentor)

Diplomsko delo zajema postopek seznanjanja z vsako od treh glavnih komponent za izvedbo avtinomnega mobilnega sistema – robotom (Roomba model 600), kamero (Intel RealSense T265) in vgradnim sistemom (Raspberry Pi 3). Delo obravnava vzpostavitev povezave med navedenimi napravami in na koncu še sestavo programa, ki s pomočjo lokalizacije na osnovi slike omogoča avtonomno delovanje mobilnega sistema. Za dosego cilja je potrebno dobro razumevanje vsake posamezne naprave in programskega vmesnika, ki ga le-ta uporablja. Poseben poudarek je narejen na opisu kamere, senzorjev in obdelavi signalov. Povezava kamere z drugimi napravami potrebuje namestitev ustreznih knjižnic, medtem ko povezava med robotom in vgradnim sistemom potrebuje poseben vmesnik. Za izvedbo vodenja mobilnega sistema so uporabljene osnovne enačbe za računanje s koti in hitrostmi, ki so skupaj povezane s proporcionalnim regulatorjem. Sam cilj naloge je izvedba avtonomnega mobilnega sistema, ki lahko potuje med želenimi točkami ter se na poti uspešno umika oviram. Glede na cenovni razpon naprav, je sistem sorazmerno stabilen, pogreški pa so relativno majhni.

• Language: Slovenian
• Keywords: avtonomen, robot, kamera, T265, vgradni, sistem, Raspberry, python, regulacija, senzorji
• Work type: Bachelor thesis/paper
• Typology: 2.11 - Undergraduate Thesis
• Organization: FE - Faculty of Electrical Engineering
• Place of publishing: Ljubljana
• Publisher: [K. Škrlep]
• Year: 2021
• Number of pages: 62 str.
• PID: 20.500.12556/RUL-129822
• UDC: 681.5:007.52(043.2)
• COBISS.SI-ID: 75819523
• Publication date in RUL: 08.09.2021

Secondary language

• Language: English
• Title: Robot localization in space using Intel RealSense T265 stereo camera : visokošolski strokovni študijski program prve stopnje Aplikativna elektrotehnika

Abstract

The thesis consists of the procedure of acquaintance with each of the three main devices that comprise an autonomous mobile system - robot (Roomba model 600), camera (Intel RealSense T265) and embedded system (Raspberry Pi 3). The work presents the coupling of the presented devices and writing of program code that uses vision-based localization for autonomous driving of the mobile system. To achieve this goal, a good understanding of each device and the programming environment it uses is required. In this thesis, particular emphasis is placed on the description of the camera, sensors and signal processing. The connection of the camera with other devices requires the installation of appropriate libraries, while the connection between the robot and the embedded system requires a special interface. For the implementation of autonomous driving, I have used some basic equations for the calculation of angle and velocity, which are combined in a P-type controller. The goal of the work is to build an autonomous mobile system that is able to drive autonomously between desired points while avoiding obstacles. Considering the price range of the devices used, the system is quite stable while the errors are relatively small.

• Keywords: autonomous, robot, camera, T265, built-in, system, Raspberry, python, regulation, sensors