prikaz prve stranice dokumenta Odometrija mobilnoga robota zasnovana na očitanjima laserskog senzora udaljenosti
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undergraduate thesis
Odometrija mobilnoga robota zasnovana na očitanjima laserskog senzora udaljenosti
Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing, 2017. urn:nbn:hr:168:260829
Kovač, Valentina
University of Zagreb
Faculty of Electrical Engineering and Computing

Institutional repository: FER Repository

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Kovač, V. (2017). Odometrija mobilnoga robota zasnovana na očitanjima laserskog senzora udaljenosti (Undergraduate thesis). Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing. Retrieved from https://urn.nsk.hr/urn:nbn:hr:168:260829

Kovač, Valentina. "Odometrija mobilnoga robota zasnovana na očitanjima laserskog senzora udaljenosti." Undergraduate thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, 2017. https://urn.nsk.hr/urn:nbn:hr:168:260829

Kovač, Valentina. "Odometrija mobilnoga robota zasnovana na očitanjima laserskog senzora udaljenosti." Undergraduate thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, 2017. https://urn.nsk.hr/urn:nbn:hr:168:260829

Kovač, V. (2017). 'Odometrija mobilnoga robota zasnovana na očitanjima laserskog senzora udaljenosti', Undergraduate thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, accessed 29 November 2024, https://urn.nsk.hr/urn:nbn:hr:168:260829

Kovač V. Odometrija mobilnoga robota zasnovana na očitanjima laserskog senzora udaljenosti [Undergraduate thesis]. Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing; 2017 [cited 2024 November 29] Available at: https://urn.nsk.hr/urn:nbn:hr:168:260829

V. Kovač, "Odometrija mobilnoga robota zasnovana na očitanjima laserskog senzora udaljenosti", Undergraduate thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, Zagreb, 2017. Available at: https://urn.nsk.hr/urn:nbn:hr:168:260829

Metadata
TitleOdometrija mobilnoga robota zasnovana na očitanjima laserskog senzora udaljenosti
Title (english)Mobile Robot Odometry Based on Laser Range Sensor Readings
AuthorValentina Kovač
MentorIvan Marković (mentor)
Committee memberIvan Marković (predsjednik povjerenstva)
Committee memberIvan Petrović (član povjerenstva)
Committee memberMarija Seder (član povjerenstva)
GranterUniversity of Zagreb
Faculty of Electrical Engineering and Computing
Zagreb
Defense date and country2017-07-10, Croatia
Scientific / art field,
discipline and subdiscipline		TECHNICAL SCIENCES
Electrical Engineering
Abstract
U ovom radu predstavljena je metoda lokalizacije zasnovana na slaganju uzastopnih očitanja laserskog senzora udaljenosti. Ova metoda uspoređuje referentni i trenutni položaj robota, na način da u svakom trenu računa promjenu kuta, te x i y koordinate. Ukupni položaj predstavlja ukupni zbroj promjena. Učinkovitost ove metode promatrana je u RViz vizualizatoru, te su rezultati predstavljeni u Matlabu. Pokazano je da lokalizacija na temelju metode slaganja uzastopnih laserskih očitanja daje dobre rezultate za određene situacije. No, ipak određeni nedostatci su vidljivi pa je nadogradnja ove metode potrebna.
Abstract (english)
This paper presents scan matching method based on the consecutive scan matching readings of laser range finder. This method compares reference and current position of robot by calculating change of angle and x and y axis in every moment. Final position is sum of these changes. Effectiveness of the method was observed in RViz and results were presented in Matlab. It is shown that localization based on the consecutive scan matching readings of laser range finder gives good results for some situations. But, some disadvantages are visible so this method needs updating.
Keywords
Keywords (english)
Languagecroatian
URN:NBNurn:nbn:hr:168:260829
Study programmeTitle: Electrical Engineering and Information Technology
Study programme type: university
Study level: undergraduate
Academic / professional title: sveučilišni/a prvostupnik/ prvostupnica (baccalaureus/baccalaurea) inženjer/inženjerka elektrotehnike i informacijske tehnologije (sveučilišni/a prvostupnik/ prvostupnica (baccalaureus/baccalaurea) inženjer/inženjerka elektrotehnike i informacijske tehnologije)
Type of resourceText
File originBorn digital
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Created on2019-03-13 21:48:48