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master's thesis
Upravljanje mobilnog robota konstruiranog na platformi invalidskih kolica
Rijeka: University of Rijeka, Faculty of Engineering, 2022. urn:nbn:hr:190:509851
Krešić, Martin
University of Rijeka
Faculty of Engineering

Institutional repository: Repository of the University of Rijeka, Faculty of Engineering

Cite this document

Krešić, M. (2022). Upravljanje mobilnog robota konstruiranog na platformi invalidskih kolica (Master's thesis). Rijeka: University of Rijeka, Faculty of Engineering. Retrieved from https://urn.nsk.hr/urn:nbn:hr:190:509851

Krešić, Martin. "Upravljanje mobilnog robota konstruiranog na platformi invalidskih kolica." Master's thesis, University of Rijeka, Faculty of Engineering, 2022. https://urn.nsk.hr/urn:nbn:hr:190:509851

Krešić, Martin. "Upravljanje mobilnog robota konstruiranog na platformi invalidskih kolica." Master's thesis, University of Rijeka, Faculty of Engineering, 2022. https://urn.nsk.hr/urn:nbn:hr:190:509851

Krešić, M. (2022). 'Upravljanje mobilnog robota konstruiranog na platformi invalidskih kolica', Master's thesis, University of Rijeka, Faculty of Engineering, accessed 30 April 2024, https://urn.nsk.hr/urn:nbn:hr:190:509851

Krešić M. Upravljanje mobilnog robota konstruiranog na platformi invalidskih kolica [Master's thesis]. Rijeka: University of Rijeka, Faculty of Engineering; 2022 [cited 2024 April 30] Available at: https://urn.nsk.hr/urn:nbn:hr:190:509851

M. Krešić, "Upravljanje mobilnog robota konstruiranog na platformi invalidskih kolica", Master's thesis, University of Rijeka, Faculty of Engineering, Rijeka, 2022. Available at: https://urn.nsk.hr/urn:nbn:hr:190:509851

Metadata
TitleUpravljanje mobilnog robota konstruiranog na platformi invalidskih kolica
Title (english)Control system for wheelchair based mobile robot
AuthorMartin Krešić
MentorKristina Marković (mentor)
MentorŽeljko Vrcan (komentor)
Committee memberTomislav Senčić (predsjednik povjerenstva)
Committee memberRobert Basan (član povjerenstva)
Committee memberKristina Marković (član povjerenstva)
GranterUniversity of Rijeka
Faculty of Engineering
Rijeka
Defense date and country2022-11, Croatia
Scientific / art field,
discipline and subdiscipline		TECHNICAL SCIENCES
Mechanical Engineering
Abstract
U ovom diplomskom radu napravljen je upravljački sustav mobilnog robota konstruiranog na platformi invalidskih kolica. Upravljački sustav napravljen je koristeći Robot Operating System (ROS). Pomoću ROS-a implementirani su SLAM (eng. Simultaneous Localization and Mapping) i autonomni način rada robota. SLAM način rada koristi teleoperaciju za upravljanje i koristi se za mapiranje robotu nepoznatih okruženja. Autonomni način rada koristi AMCL (eng. Adaptive Monte Carlo Localization) i planere putanje za samostalnu navigaciju robota u prijašnje mapiranim okruženjima. Ispravnost sustava testirana je unutar Gazebo simulatora koristeći simulacijsko okruženje sa preprekama.
Abstract (english)
In this master thesis control system for mobile robot for a wheelchair based mobile robot was made. Control system was made using the Robot Operating System (ROS). ROS was used to implement SLAM (Simultaneous Localization and Mapping) and autonomous mode of operation for the robot. SLAM mode uses teleoperation as means of control and it is used for mapping of environments which are previously unknown for the robot. Autonomous mode uses AMCL (Adaptive Monte Carlo Localization) and route planners for fully autonomous navigation of the robot in previously mapped environments. Validity of the system was tested via Gazebo simulator using a simulated obstacle course.
Keywords
Keywords (english)
Languagecroatian
URN:NBNurn:nbn:hr:190:509851
Study programmeTitle: Mechanical Engineering
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 Attribution 4.0 International (CC BY 4.0) icon
Created on2022-11-14 10:52:45