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undergraduate thesis
Stereo vizualno upravljanje mobilnim robotom
Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing, 2021. urn:nbn:hr:168:392870
Car, Ena
University of Zagreb
Faculty of Electrical Engineering and Computing

Institutional repository: FER Repository

Cite this document

Car, E. (2021). Stereo vizualno upravljanje mobilnim robotom (Undergraduate thesis). Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing. Retrieved from https://urn.nsk.hr/urn:nbn:hr:168:392870

Car, Ena. "Stereo vizualno upravljanje mobilnim robotom." Undergraduate thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, 2021. https://urn.nsk.hr/urn:nbn:hr:168:392870

Car, Ena. "Stereo vizualno upravljanje mobilnim robotom." Undergraduate thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, 2021. https://urn.nsk.hr/urn:nbn:hr:168:392870

Car, E. (2021). 'Stereo vizualno upravljanje mobilnim robotom', Undergraduate thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, accessed 12 July 2024, https://urn.nsk.hr/urn:nbn:hr:168:392870

Car E. Stereo vizualno upravljanje mobilnim robotom [Undergraduate thesis]. Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing; 2021 [cited 2024 July 12] Available at: https://urn.nsk.hr/urn:nbn:hr:168:392870

E. Car, "Stereo vizualno upravljanje mobilnim robotom", Undergraduate thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, Zagreb, 2021. Available at: https://urn.nsk.hr/urn:nbn:hr:168:392870

Metadata
TitleStereo vizualno upravljanje mobilnim robotom
Title (english)Stereo visual control of the mobile robot
AuthorEna Car
MentorIvan Marković (mentor)
Committee memberIvan Marković (predsjednik povjerenstva)
Committee memberGoran Popović (član povjerenstva)
Committee memberAnđela Jurić (član povjerenstva)
GranterUniversity of Zagreb
Faculty of Electrical Engineering and Computing
Zagreb
Defense date and country2021-07-08, Croatia
Scientific / art field,
discipline and subdiscipline		TECHNICAL SCIENCES
Electrical Engineering
Abstract
U radu je ostvareno upravljanje mobilnim robotom TurtleBot3 Waffle korištenjem podataka stereo kamere Intel RealSense D435. Opisano je korisničko sučelje pomoću kojeg se ostvaruje ručno ili autonomno upravljanje robotom, način dobivanja dubinske slike stereo kamerom te način pristupanja internim podacima robota. Prikazano je ostvarenje komunikacije s robotom korištenjem Robotskog operacijskog sustava. Odabirom cilja u prostoru i označavanjem robota na trenutnoj slici prostora, kamerom se određuju njihove lokacije te njihov relativan odnos. Obradom informacija dobivenih kamerom, dobivaju se upravljačke veličine kojima se regulira brzina kretanja robota prema unaprijed odabranom cilju. Vladanje sustava ovisi o ograničenjima koja se postave nad upravljačkom veličinom te je važno unaprijed odrediti željeno vladanje sustava kako bi se postavili ispravni parametri.
Abstract (english)
This paper controls the mobile robot TurtleBot3 Waffle using data from the stereo camera Intel RealSense D435. The user interface, which is described, is used for manual or autonomous control of the robot, the method of obtaining an in-depth image with a stereo camera and the method of accessing the internal data of the robot. The realization of communication with a robot using the Robotic operating system is shown. By selecting a target in space and marking the robot in the current image of the space, the camera determines their locations and their relative relationship. Control variables, which regulate the speed of the robot according to a pre-selected target, are obtained by processing the information obtained by camera. System behavior depends on the constraints placed on the control variable and it is important to predetermine the desired system behavior in order to set the correct parameters.
Keywords
Keywords (english)
Languagecroatian
URN:NBNurn:nbn:hr:168:392870
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 on2023-01-14 08:36:44