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master's thesis
Upravljanje smjerom gibanja mobilnoga robota zasnovano na vizualnim značajkama
Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing, 2021. urn:nbn:hr:168:595429
Prusac, Viktor
University of Zagreb
Faculty of Electrical Engineering and Computing

Institutional repository: FER Repository

Cite this document

Prusac, V. (2021). Upravljanje smjerom gibanja mobilnoga robota zasnovano na vizualnim značajkama (Master's thesis). Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing. Retrieved from https://urn.nsk.hr/urn:nbn:hr:168:595429

Prusac, Viktor. "Upravljanje smjerom gibanja mobilnoga robota zasnovano na vizualnim značajkama." Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, 2021. https://urn.nsk.hr/urn:nbn:hr:168:595429

Prusac, Viktor. "Upravljanje smjerom gibanja mobilnoga robota zasnovano na vizualnim značajkama." Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, 2021. https://urn.nsk.hr/urn:nbn:hr:168:595429

Prusac, V. (2021). 'Upravljanje smjerom gibanja mobilnoga robota zasnovano na vizualnim značajkama', Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, accessed 19 December 2024, https://urn.nsk.hr/urn:nbn:hr:168:595429

Prusac V. Upravljanje smjerom gibanja mobilnoga robota zasnovano na vizualnim značajkama [Master's thesis]. Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing; 2021 [cited 2024 December 19] Available at: https://urn.nsk.hr/urn:nbn:hr:168:595429

V. Prusac, "Upravljanje smjerom gibanja mobilnoga robota zasnovano na vizualnim značajkama", Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, Zagreb, 2021. Available at: https://urn.nsk.hr/urn:nbn:hr:168:595429

Metadata
TitleUpravljanje smjerom gibanja mobilnoga robota zasnovano na vizualnim značajkama
Title (english)Mobile robot heading control based on visual features
AuthorViktor Prusac
MentorIvan Marković (mentor)
Committee memberIvan Marković (predsjednik povjerenstva)
Committee memberIvan Petrović (član povjerenstva)
Committee memberBranimir Novoselnik (član povjerenstva)
GranterUniversity of Zagreb
Faculty of Electrical Engineering and Computing
Zagreb
Defense date and country2021-02-19, Croatia
Scientific / art field,
discipline and subdiscipline		TECHNICAL SCIENCES
Computing
Abstract
Ovaj rad rješava problem lateralnog odstupanja robota koje dolazi kod pravocrtnog gibanja robota sa zadanim smjerom. Do odstupanja dolazi zbog proklizavanja rob- ota, nepreciznosti kotača, motora ili baterije ili vanjskih fizičkih čimbenika. Ovaj rad rješava taj problem koristeći vizualne značajke dobivene od kamere. Rješenje je napisano u programskom jeziku Python, na mobilnom Husky robotu u ROS okruženju koje nudi potpunu integraciju s Husky robotom i mnogim korisnim alatima kao što su Gazebo simulator ili RViz vizualizator. Iako je eksperimentalni dio rada demonstriran u simulatoru s različitim hiperparametrima, na različitim mapama i na Husky robotu, rješenje je primjenjivo na fizičku okolinu i na sve mobilne robote koji podržavaju ROS. Rješenje implementira obradu slike u stvarnom vremenu pomoću Lucas-Kanade al- goritma optičkog toka. Taj algoritam pronalazi značajke sa slike te traži njihov po- mak u odnosu na sljedeću dobivenu sliku. Iz tih značajki se izračunava točka Fokusa ekspanzije (FOE), koja predstavlja nepomičnu točku na epipolarnoj liniji vektora op- tičkih tokova značajki. Kako robot lateralno odstupa tako se i FOE mijenja. Uzimajući to u obzir, pronalazi se smjer te veličina lateralnog odstupanja robota te se izračuna nova kutna brzina koja se šalje robotu kako bi ispravio putanju i eliminirao lateralno odstupanje.
Abstract (english)
This thesis solves the problem of lateral drifting of the robot that occurs when the robot moves in a straight line with a given direction. Drifting occurs due to robot slippage, wheel, motor or battery inaccuracies, or external physical factors. This pa- per solves this problem using visual features obtained from the camera. The solution is written in Python programming language, on a mobile robot Husky in the ROS framework that offers full integration with Husky robot and many useful tools such as Gazebo simulator or RViz visualizer. Although the experimental part of he work was demonstrated in a simulator with different hyperparameters, on various maps and on a Husky robot, the solution is also applicable to the physical environment and to all mobile robots that support ROS. The solution implements real-time image processing using the Lucas-Kanade optical flow algorithm. This algorithm finds the features from the image and looks for their offset relative to the next image obtained. Using these features, the Focus of Expansion (FOE) is calculated, which is a fixed point on the epipolar line of the feature’s optical flow vector. As the drifting occurs, FOE is also changing. Taking that into account, the direction and magnitude of the lateral drift of the robot are found and the new angular velocity is calculated. The velocity is sent the robot to correct the trajectory and eliminate the lateral drift.
Keywords
Keywords (english)
Languagecroatian
URN:NBNurn:nbn:hr:168:595429
Study programmeTitle: Computing
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
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Created on2023-01-13 13:35:34