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master's thesis
SLAM postupak na eMIR mobilnom robotu
Zagreb: University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, 2022. urn:nbn:hr:235:015648
Tuček, Leon
University of Zagreb
Faculty of Mechanical Engineering and Naval Architecture

Institutional repository: Repository of Faculty of Mechanical Engineering and Naval Architecture University of Zagreb

Cite this document

Tuček, L. (2022). SLAM postupak na eMIR mobilnom robotu (Master's thesis). Zagreb: University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture. Retrieved from https://urn.nsk.hr/urn:nbn:hr:235:015648

Tuček, Leon. "SLAM postupak na eMIR mobilnom robotu." Master's thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, 2022. https://urn.nsk.hr/urn:nbn:hr:235:015648

Tuček, Leon. "SLAM postupak na eMIR mobilnom robotu." Master's thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, 2022. https://urn.nsk.hr/urn:nbn:hr:235:015648

Tuček, L. (2022). 'SLAM postupak na eMIR mobilnom robotu', Master's thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, accessed 01 June 2024, https://urn.nsk.hr/urn:nbn:hr:235:015648

Tuček L. SLAM postupak na eMIR mobilnom robotu [Master's thesis]. Zagreb: University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture; 2022 [cited 2024 June 01] Available at: https://urn.nsk.hr/urn:nbn:hr:235:015648

L. Tuček, "SLAM postupak na eMIR mobilnom robotu", Master's thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, Zagreb, 2022. Available at: https://urn.nsk.hr/urn:nbn:hr:235:015648

Metadata
TitleSLAM postupak na eMIR mobilnom robotu
Title (english)SLAM procedure on the eMIR mobile robot
AuthorLeon Tuček
MentorMladen Crneković (mentor)
GranterUniversity of Zagreb
Faculty of Mechanical Engineering and Naval Architecture
Zagreb
Defense date and country2022-12-15, Croatia
Scientific / art field,
discipline and subdiscipline		TECHNICAL SCIENCES
Mechanical Engineering
General Mechanical Engineering (Construction)
Abstract
Problem mapiranja i istovremenog lociranja u nepoznatom prostoru u robotici naziva se SLAM (engl. Simultaneous localization and mapping) te je jedan od temeljnih problema u autonomnoj robotici. SLAM omogućuje mapiranje nepoznatog okruženja robota te se nastala mapa može koristiti za izvršavanje raznovrsnih zadataka uz pomoć poznavanja okoline robota. Neki od zadatka koje SLAM rješava su pronalazak optimalne putanje robota u mapiranom prostoru te izbjegavanje prepreka u stvarnom vremenu, odnosno robot može izbjegavati prepreke u promjenjivoj okolini. Temelj interakcije s okolinom velike većine autonomnih robota te automobila je upravo njihov SLAM sustav. U ovom radu bit će obrađena izrada SLAM sustava uz pomoć 2D LIDAR senzora te implementacija istog na eMIR robota.
Abstract (english)
The problem of mapping and simultaneous localization in an unknown space in robotics is called SLAM (Simultaneous localization and mapping) and is one of the fundamental problems in autonomous robotics. SLAM enables mapping of the robot unknown environment, the resulting map can be used to perform various tasks with the information about robot environment. Some of the tasks that SLAM enables solving are finding the optimal path of the robot in the mapped unknown space and avoiding obstacles in real time, i.e. the robot can avoid obstacles in a changing environment. The vast majority of autonomous robots and cars base their interaction with the environment on their SLAM systems. This paper will deal with the development of a SLAM system with the help of a 2D LIDAR sensor and its implementation on the eMIR robot.
Keywords
Keywords (english)
Languagecroatian
URN:NBNurn:nbn:hr:235:015648
Study programmeTitle: Mechanical Engineering; specializations in: Design, Process and Energy Engineering, Production Engineering, Engineering Modelling and Computer Simulation, Marine Engineering, Industrial Engineering and Management, Materials Engineering, Mechatronics and Robotics, Autonomous Systems
Course: Mechatronics and Robotics
Study programme type: university
Study level: graduate
Academic / professional title: magistar/magistra inženjer/inženjerka strojarstva (magistar/magistra inženjer/inženjerka strojarstva)
Type of resourceText
File originBorn digital
Access conditionsOpen access
Terms of useLicence In copyright icon
Created on2022-11-28 11:20:20