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master's thesis
Razvoj programske podrške za Raspberry Pi mobilnu robotsku platformu uz korištenje ROS operativnog sustava
Osijek: Josip Juraj Strossmayer University of Osijek, Faculty of Electrical Engineering, Computer Science and Information Technology Osijek, 2022. urn:nbn:hr:200:882777
Miličić, Stjepan
Josip Juraj Strossmayer University of Osijek
Faculty of Electrical Engineering, Computer Science and Information Technology Osijek

Institutional repository: Faculty of Electrical Engineering, Computer Science and Information Technology Osijek

Cite this document

Miličić, S. (2022). Razvoj programske podrške za Raspberry Pi mobilnu robotsku platformu uz korištenje ROS operativnog sustava (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:200:882777

Miličić, Stjepan. "Razvoj programske podrške za Raspberry Pi mobilnu robotsku platformu uz korištenje ROS operativnog sustava." 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:200:882777

Miličić, Stjepan. "Razvoj programske podrške za Raspberry Pi mobilnu robotsku platformu uz korištenje ROS operativnog sustava." 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:200:882777

Miličić, S. (2022). 'Razvoj programske podrške za Raspberry Pi mobilnu robotsku platformu uz korištenje ROS operativnog sustava', Master's thesis, Josip Juraj Strossmayer University of Osijek, Faculty of Electrical Engineering, Computer Science and Information Technology Osijek, accessed 12 May 2024, https://urn.nsk.hr/urn:nbn:hr:200:882777

Miličić S. Razvoj programske podrške za Raspberry Pi mobilnu robotsku platformu uz korištenje ROS operativnog sustava [Master's thesis]. Osijek: Josip Juraj Strossmayer University of Osijek, Faculty of Electrical Engineering, Computer Science and Information Technology Osijek; 2022 [cited 2024 May 12] Available at: https://urn.nsk.hr/urn:nbn:hr:200:882777

S. Miličić, "Razvoj programske podrške za Raspberry Pi mobilnu robotsku platformu uz korištenje ROS operativnog sustava", 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:200:882777

Metadata
TitleRazvoj programske podrške za Raspberry Pi mobilnu robotsku platformu uz korištenje ROS operativnog sustava
Title (english)Software development for Raspberry Pi mobile robot platform with Robot Operating System (ROS)
AuthorStjepan Miličić
MentorDamir Blažević (mentor)
MentorTomislav Keser (sumentor)
GranterJosip Juraj Strossmayer University of Osijek
Faculty of Electrical Engineering, Computer Science and Information Technology Osijek
Osijek
Defense date and country2022-03-19, Croatia
Scientific / art field,
discipline and subdiscipline		TECHNICAL SCIENCES
Electrical Engineering
Automation and Robotics
Abstract
Cilj ovog diplomskog rada je prikazati postupak izrade programskog rješenja za kontrolirano i autonomno kretanje AlphaBot2-Pi mobilne robotske platforme uz korištenje ROS Noetic Ninjemys okvira. Prije instalacije odgovarajuće verzije ROS-a na Raspberry Pi i same razrade programskog rješenja, potrebno je upoznati se s karakteristikama mobilne robotske platforme, Raspberry Pi računala i senzora kako bi pravilno postavili radno okruženje i omogućili uspješnu komunikaciju procesa u robotskom sustavu. Upoznali smo se s povijesti ROS-a i njegovim konceptima gdje se steklo znanje o elementima sustava, njihovim ulogama i što ROS predstavlja u robotskoj zajednici. U praktičnom dijelu rada izradila se programska podrška za kontrolirano kretanje robota preko tipkovnice, kao i autonomno kretanje realizirano kombinacijom HC-SR04 ultrazvučnog senzora i ST188 infracrvenog senzora te je stečeno znanje o konceptima ROS-a primijenjeno na konkretnom primjeru.
Abstract (english)
The goal of this master’s paper is to show the process of creating a programming solution for controlled and autonomous movement of the AlphaBot2-Pi mobile robotic platform with the use of the ROS Noetic Ninjemys framework. Before the installation of the appropriate version of the ROS onto the Raspberry Pi and the development of the programming solution itself, it is required to familiarise oneself with the characteristics of the mobile robotic platform, the Raspberry Pi computer, and the sensors, to properly set up the work environment and enable a successful communication between the processes in a robotic system. We have familiarised ourselves with the history of ROS and its concepts, where we have acquired knowledge about the system elements, their roles, and what they mean in a robotic community. In the practical part of the paper, a programming support for controlled movement of the robot with the use of a keyboard was created, as well as autonomous movement implemented through the combined use of an HC-SR04 ultrasound sensor and the ST188 infrared sensor, and the acquired knowledge of the ROS concepts was applied on a concrete example.
Keywords
Keywords (english)
Languagecroatian
URN:NBNurn:nbn:hr:200:882777
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 on2022-12-05 08:34:40