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undergraduate thesis
Vizualno slijeđenje mobilnim robotom s diferencijalnim pogonom
Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing, 2018. urn:nbn:hr:168:718742
Kuvačić, Dario
University of Zagreb
Faculty of Electrical Engineering and Computing

Institutional repository: FER Repository

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Kuvačić, D. (2018). Vizualno slijeđenje mobilnim robotom s diferencijalnim pogonom (Undergraduate thesis). Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing. Retrieved from https://urn.nsk.hr/urn:nbn:hr:168:718742

Kuvačić, Dario. "Vizualno slijeđenje mobilnim robotom s diferencijalnim pogonom." Undergraduate thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, 2018. https://urn.nsk.hr/urn:nbn:hr:168:718742

Kuvačić, Dario. "Vizualno slijeđenje mobilnim robotom s diferencijalnim pogonom." Undergraduate thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, 2018. https://urn.nsk.hr/urn:nbn:hr:168:718742

Kuvačić, D. (2018). 'Vizualno slijeđenje mobilnim robotom s diferencijalnim pogonom', Undergraduate thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, accessed 04 November 2024, https://urn.nsk.hr/urn:nbn:hr:168:718742

Kuvačić D. Vizualno slijeđenje mobilnim robotom s diferencijalnim pogonom [Undergraduate thesis]. Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing; 2018 [cited 2024 November 04] Available at: https://urn.nsk.hr/urn:nbn:hr:168:718742

D. Kuvačić, "Vizualno slijeđenje mobilnim robotom s diferencijalnim pogonom", Undergraduate thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, Zagreb, 2018. Available at: https://urn.nsk.hr/urn:nbn:hr:168:718742

Metadata
TitleVizualno slijeđenje mobilnim robotom s diferencijalnim pogonom
Title (english)Visual servoing with a differential drive mobile robot
AuthorDario Kuvačić
MentorIvan Petrović (mentor)
Committee memberIvan Petrović (predsjednik povjerenstva)
Committee memberIvan Marković (član povjerenstva)
Committee memberGoran Popović (član povjerenstva)
GranterUniversity of Zagreb
Faculty of Electrical Engineering and Computing
Zagreb
Defense date and country2018-09-19, Croatia
Scientific / art field,
discipline and subdiscipline		TECHNICAL SCIENCES
Electrical Engineering
Abstract
Vizualno slijeđenje je brzorastuća metoda upravljanja robota pomoću kamere i robotskog vida. Povratna veza s kamerom osigurava odličnu preciznost uz nižu cijenu i veću fleksibilnost samog uređaja, te omogućuje razne nove mogućnosti za robote kako više ne moraju biti ograničeni na određen prostor. Na primer jednostavnog robota s diferencijalnim pogonom, promatramo razne složenosti vizualnog slijeđenja, te probleme u robotici i računalnom vidu. Dajemo osnove kinematike; definiranje kinematičkih parametara za upravljanje zglobova robota, crtanje ortonormiranih koordinatnih sustava za upravljanje robota u prostoru, te definiranje matrica transformacije koordinatnih sustava. Promatramo problematiku Robotskog vida i metode analize slike; filtriranje šuma,razne metode segmentacija objekta te momenti slike. Susrećemo se i s problemima u samom robotskom operacijskom sustavu s prijenosom podataka. Konačno primjenjujemo sve u jednom primjeru vizualnog slijeđenja gdje koristimo Turtlebot 3 za praćenje neke određene mete.
Abstract (english)
Visual servoing is a quickly advancing robot control method using camera sensors and robotic vision. The camera’s feedback provides excellent precision at a lower price and greater flexibility of the device itself, and provides a variety of new features for robots so that they no longer have to be restricted to a certain space. For example, we take a simple robot with a differential drive and observe various complexities of visual tracking, and the problems in robotics and computer vision. We give the basics of kinematics; defining kinematic parameters for the control of joints of robots, drawing orthonormative coordinate systems for managing robots in space, and defining transformation matrices of coordinate systems. We observe the problem of Robotic vision and the method of image analysis; noise filtering, various object segmentation methods and image moments. We also encounter problems in the robotic operating system with data transfer. Finally, we apply everything in one example of visual tracking where we use Turtlebot 3 to track some specific target.
Keywords
Keywords (english)
Languagecroatian
URN:NBNurn:nbn:hr:168:718742
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 22:11:05