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master's thesis
Usporedba metoda za izgradnju karte i navigaciju mobilnog robota u unutrašnjim prostorima
2022. urn:nbn:hr:200:776454
Strinić, Luka
Josip Juraj Strossmayer University of Osijek
Faculty of Electrical Engineering, Computer Science and Information Technology Osijek
Department of Computer Engineering and Automation
Chair of Automation and Robotics

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Strinić, L. (2022). Usporedba metoda za izgradnju karte i navigaciju mobilnog robota u unutrašnjim prostorima (Master's thesis). Osijek: Josip Juraj Strossmayer University of Osijek, Faculty of Electrical Engineering, Computer Science and Information Technology Osijek. Retrieved from https://urn.nsk.hr/urn:nbn:hr:200:776454

Strinić, Luka. "Usporedba metoda za izgradnju karte i navigaciju mobilnog robota u unutrašnjim prostorima." Master's thesis, Josip Juraj Strossmayer University of Osijek, Faculty of Electrical Engineering, Computer Science and Information Technology Osijek, 2022. https://urn.nsk.hr/urn:nbn:hr:200:776454

Strinić, Luka. "Usporedba metoda za izgradnju karte i navigaciju mobilnog robota u unutrašnjim prostorima." Master's thesis, Josip Juraj Strossmayer University of Osijek, Faculty of Electrical Engineering, Computer Science and Information Technology Osijek, 2022. https://urn.nsk.hr/urn:nbn:hr:200:776454

Strinić, L. (2022). 'Usporedba metoda za izgradnju karte i navigaciju mobilnog robota u unutrašnjim prostorima', Master's thesis, Josip Juraj Strossmayer University of Osijek, Faculty of Electrical Engineering, Computer Science and Information Technology Osijek, accessed 27 September 2023, https://urn.nsk.hr/urn:nbn:hr:200:776454

Strinić L. Usporedba metoda za izgradnju karte i navigaciju mobilnog robota u unutrašnjim prostorima [Master's thesis]. Osijek: Josip Juraj Strossmayer University of Osijek, Faculty of Electrical Engineering, Computer Science and Information Technology Osijek; 2022 [cited 2023 September 27] Available at: https://urn.nsk.hr/urn:nbn:hr:200:776454

L. Strinić, "Usporedba metoda za izgradnju karte i navigaciju mobilnog robota u unutrašnjim prostorima", Master's thesis, Josip Juraj Strossmayer University of Osijek, Faculty of Electrical Engineering, Computer Science and Information Technology Osijek, Osijek, 2022. Available at: https://urn.nsk.hr/urn:nbn:hr:200:776454

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Metadata
TitleUsporedba metoda za izgradnju karte i navigaciju mobilnog robota u unutrašnjim prostorima
Title (english)Comparison of methods for mobile robot navigation and mapping in indoor environments
AuthorLuka Strinić
MentorRobert Cupec (mentor)
Committee memberRobert Cupec (predsjednik povjerenstva)
Committee memberJosip Balen (član povjerenstva)
Committee memberDamir Filko (član povjerenstva)
GranterJosip Juraj Strossmayer University of Osijek
Faculty of Electrical Engineering, Computer Science and Information Technology Osijek
(Department of Computer Engineering and Automation)
(Chair of Automation and Robotics)
Osijek
Defense date and country2022-05-16, Croatia
Scientific / art field,
discipline and subdiscipline		TECHNICAL SCIENCES
Computing
Artificial Intelligence
Abstract
Zadatak ovog diplomskog rada je usporediti različite metode za izgradnju karte i navigaciju mobilnog robota u unutrašnjim prostorima. Metode koje su implementirane i uspoređene su GMapping, RTAB-Map i Cartographer. Za rješavanje problema diplomskog rada korišten je mobilni robot pod nazivom Turtlebot2. Koji sadrži senzore lidar i dubinska kamera, pomoću kojih su izgrađene karte hodnika trećeg kata zgrade Fakulteta elektrotehnike, računarstva i informacijskih tehnologija u Osijeku. Karte su izgrađene različitim SLAM algoritmima uz korištenje lidara, dubinske kamere te kombinacije lidara i dubinske kamere. Mobilni robot provozan je od središta hodnika do jednog kraja hodnika, zatim do drugog kraja hodnika i vraćen u početnu točku kretanja. Tijekom kretanja mobilnog robota hodnikom snimljena je rosbag datoteka koja sadrži sve potrebne podatke za mapiranje prostora. Tako je omogućeno implementiranje navedenih SLAM algoritama uz korištenje istih podataka, kako bi se dobila što bolja usporedba različitih metoda. Izgrađene karte uspoređene su po preciznosti, točnosti i cjelovitosti. Nakon provedenih testiranja najbolje rezultate mapiranja prostora pokazala je metoda GMapper s korištenjem lidara kao senzora za mapiranje, dok su ostale metode pokazale lošije rezultate.
Abstract (english)
The task of this master thesis is to compare different methods for building a map and navigating a mobile robot in indoor spaces. Implemented and compared methods are GMapping, RTAB-Map and Cartographer. Mobile robot called Turtlebot2 which contains sensors lidar and depth camera are used to solve the problem of this master thesis. The constracted maps of third floor hallway of the building Faculty of electrical engineering, computing and information technology in Osijek. The maps where built by different SLAM algorithms using lidar, depth camera and combination of lidar and depth camera. Mobile robot was driven from the center of hallway to one end of hallway, then to other end of hallway and return to the starting point of movement. While the mobile robot was moving down the hall, a rosbag file was recorded. The rosbag file contains all the necessary data for mapping the space. On that way it is possible to implement these SLAM algorithms using the same dana, in order to obtain the best possible comparison of different methods. The constructed maps where compered in therms of precision, accuracy and completeness. After testing, the best results were shown by the GMapper method using lidar as a mapping sensor, while other methods showed poorer results.
Keywords
Keywords (english)
Languagecroatian
URN:NBNurn:nbn:hr:200:776454
Study programmeTitle: Graduate University Study Programme in Computer Engineering
Study programme type: university
Study level: graduate
Academic / professional title: magistar/magistra inženjer/inženjerka računarstva (magistar/magistra inženjer/inženjerka računarstva)
Type of resourceText
File originBorn digital
Access conditionsOpen access
Terms of useLicence In copyright icon
Created on2022-09-07 08:44:12