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Izboljšanje navigacijskega sistema mobilnega robota s pomočjo referenčnih oznak : zaključna naloga Univerzitetnega študijskega programa I. stopnje Strojništvo - Razvojno raziskovalni programZupanc, MatijaNavigacija je ključni del mobilne robotike. Lahko jo razdelimo na lokalizacijo oz. iskanje položaja ter načrtovanje poti in premikanje po prostoru. Za navigacijo je razvitih že mnogo algoritmov, ki ... služijo vsak določenim potrebam. Kljub temu se še vedno srečujemo z izzivi. Včasih si želimo natančnejše lokalizacije, kar je včasih težko zagotoviti ali pa se pojavi težava, kot je problem ugrabljenega robota. O tem govorimo, ko robot popolnoma izgubi svojo lokacijo. Razlog se lahko skriva v neoptimiziranih ali nenatančnih algoritmih, senzorjih ali zemljevidu. Za rešitev teh težav se pojavljajo novi pristopi, ki skrbijo, da do teh težav redkeje prihaja. Eden izmed takih pristopov bo uporabljen tudi v zaključnem delu, in sicer s pomočjo programske knjižnice, ki nam omogoča zaznavo referenčnih oznak. Preko njih lahko pridemo do transformacij in jih uporabimo pri lokalizaciji robota. V delu je bilo ugotovljeno, da nam takšen sistem le malenkost izboljša navigacijo, spremembe pa se najbolj opazijo pri problemu, kadar je robot popolnoma izgubljen v prostoru.Type of material - undergraduate thesis ; adult, seriousPublication and manufacture - Ljubljana : [M. Zupanc], 2023Language - slovenianCOBISS.SI-ID - 163580163
Author
Zupanc, Matija
Other authors
Vrabič, Rok
Topics
diplomske naloge |
mobilni roboti |
navigacija |
ROS |
Turtlebot2 |
AprilTag |
thesis |
mobile robots |
navigation |
ROS |
Turtlebot2 |
AprilTag
Library/institution |
City | Acronym | For loan | Other holdings |
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Faculty of Mechanical Engineering, Ljubljana | Ljubljana | FSLJ |
reading room 1 cop.
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JCR | SNIP | JCR | SNIP | JCR | SNIP | JCR | SNIP |
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Database name | Field | Year |
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Links to authors' personal bibliographies | Links to information on researchers in the SICRIS system |
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Zupanc, Matija | |
Vrabič, Rok | 30914 |
Source: Personal bibliographies
and: SICRIS
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