Faculty of Mechanical Engineering, Lj. (FSLJ)
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Razširjeni Kalmanov filter za določanje lege mobilnega robota na osnovi inercialne merilne enote in kodirnikov : diplomsko delo Visokošolskega strokovnega študijskega programa I. stopnje StrojništvoZavodnik, VidSodobni mobilni roboti pogosto vsebujejo več senzorjev za merjenje povezanih fizikalnih veličin. Uporaba razširjenega Kalmanovega filtra omogoča združevanje podatkov tako, da je rezultat ... zanesljivejši od vsake posamezne meritve s senzorja. Na mobilnem robotu z diferencialnim pogonom, opremljenim z inercialno merilno enoto in kolesnimi kodirniki, smo prikazali delovanje EKF, z namenom izboljševanja zanesljivosti lokalizacije robota. Robot temelji na strojno-programski opremi ROS (\textit{angl. Robotic operating system}), kar nam je omogočilo uporabo odprtokodnega programskega paketa robot\_localization, v katerem je ta filter implementiran. Preizkus sledenja z EKF smo izvedli z vožnjo robota po progi in rezultate primerjali z lego, kot jo prikazuje zunanja kamera. Ugotovili smo, da so podatki iz inercialne merilne enote preveč nezanesljivi, da bi njihovo vključevanje izboljšalo lokalizacijo robota. Kljub temu smo zaključili, da tudi samo filtriranje podatkov iz kodirnikov poveča zanesljivost lokalizacije, saj nadaljuje z napovedjo stanja robota takrat, ko so podatki s senzorjev začasno nedostopni.Type of material - undergraduate thesis ; adult, seriousPublication and manufacture - Ljubljana : [V. Zavodnik], 2019Language - slovenianCOBISS.SI-ID - 16911131
Author
Zavodnik, Vid
Other authors
Vrabič, Rok
Topics
diplomske naloge |
mobilni roboti |
diferencialni pogoni |
senzorji |
lokalizacija |
razširjeni Kalmanov filter |
strojno-programska oprema ROS |
theses |
mobile robots |
differential drives |
sensors |
localization |
extended Kalman filter |
ROS firmware
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Zavodnik, Vid | ![]() |
Vrabič, Rok | 30914 |
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