prikaz prve stranice dokumenta Highly accurate markerless localization of mobile robots in indoor industrial environments
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doctoral thesis
Highly accurate markerless localization of mobile robots in indoor industrial environments
Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing, 2017. urn:nbn:hr:168:836814
Vasiljević, Goran
University of Zagreb
Faculty of Electrical Engineering and Computing
Department of Control and Computer Engineering

Institutional repository: FER Repository

Cite this document

Vasiljević, G. (2017). Highly accurate markerless localization of mobile robots in indoor industrial environments (Doctoral thesis). Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing. Retrieved from https://urn.nsk.hr/urn:nbn:hr:168:836814

Vasiljević, Goran. "Highly accurate markerless localization of mobile robots in indoor industrial environments." Doctoral thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, 2017. https://urn.nsk.hr/urn:nbn:hr:168:836814

Vasiljević, Goran. "Highly accurate markerless localization of mobile robots in indoor industrial environments." Doctoral thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, 2017. https://urn.nsk.hr/urn:nbn:hr:168:836814

Vasiljević, G. (2017). 'Highly accurate markerless localization of mobile robots in indoor industrial environments', Doctoral thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, accessed 30 June 2024, https://urn.nsk.hr/urn:nbn:hr:168:836814

Vasiljević G. Highly accurate markerless localization of mobile robots in indoor industrial environments [Doctoral thesis]. Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing; 2017 [cited 2024 June 30] Available at: https://urn.nsk.hr/urn:nbn:hr:168:836814

G. Vasiljević, "Highly accurate markerless localization of mobile robots in indoor industrial environments", Doctoral thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, Zagreb, 2017. Available at: https://urn.nsk.hr/urn:nbn:hr:168:836814

Metadata
TitleHighly accurate markerless localization of mobile robots in indoor industrial environments
Title (croatian)Lokalizacija visoke točnosti mobilnih robota u zatvorenim industrijskim okruženjima bez korištenja markera
AuthorGoran Vasiljević
MentorZdenko Kovačić (mentor)
Committee memberZdenko Kovačić (član povjerenstva)
GranterUniversity of Zagreb
Faculty of Electrical Engineering and Computing
(Department of Control and Computer Engineering)
Zagreb
Defense date and country2017, Croatia
Scientific / art field,
discipline and subdiscipline		TECHNICAL SCIENCES
Electrical Engineering
Automation and Robotics
Universal decimal classification
(UDC)		621.3 - Electrical engineering
Abstract
The topic of this PhD thesis is the precise localization of mobile robots in industrial environments based on laser range scanning and without installed markers. During the research, new localization methods were developed to achieve the accuracy required within specific industrial applications that had previously been achieved only by markers. Two methods for localization using a laser range scanner were investigated, with the first method improving the accuracy of the existing AMCL-based methods, and the other achieving improved accuracy by fusing data from laser scanners placed at different height levels of the mobile robot (industrial forklift). New methods have been implemented on a real autonomous forklift using ROS (Robot Operating System) and their performance validated in realistic industrial conditions. Robustness of algorithms has been tested under conditions of fast and slow changes in the environment as well as resistance to possible accumulation of errors during long-term robot movement.
Abstract (croatian)
Tema doktorskog rada je precizna lokalizacija mobilnih robota u industrijskim okruženjima temeljena na laserskim senzorima udaljenosti bez korištenja markera. Tijekom istraživanja razvijene su nove metode lokalizacije kojima se postiže točnost koja se zahtijeva u specifičnim industrijskim aplikacijama, koju je ranije bilo moguće postići samo uz pomoć markera. Istražene su dvije metode lokalizacije koje koriste laserski senzor udaljenosti, pri čemu prva metoda poboljšava točnost postojećih metoda temeljenih na AMCL algoritmu, a druga metoda poboljšava točnost fuzijom podataka s laserskih senzora udaljenosti postavljenih na različite visine mobilnog robota. Nove metode su implementirane na pravom autonomnom viličaru koristeći ROS (robotski operacijski sustav), te je validiran njihov učinak u realističnim industrijskim uvjetima. Robusnost algoritama je testirana pod uvjetima brzih i sporih promjena u okolini, zajedno s otpornošću na moguću akumulaciju pogreške tijekom dugotrajnog gibanja robota.
Keywords
Keywords (english)
Languageenglish
URN:NBNurn:nbn:hr:168:836814
Study programmeTitle: Electrical Engineering and Computing
Study programme type: university
Study level: postgraduate
Academic / professional title: Doktor znanosti elektrotehnike i računarstva (Doktor znanosti elektrotehnike i računarstva)
Type of resourceText
Extent104 str. ; 30 cm.
File originBorn digital
Access conditionsClosed access
Terms of useLicence In copyright icon
Created on2019-04-04 12:29:31