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master's thesis
Izrada autonomnog mobilog robota za mapiranje/lokalizaciju temeljenog na Raspberry PI mikrokontroleru
2020. urn:nbn:hr:190:546427
Komadina, Ivan
University of Rijeka
Faculty of Engineering
Department of Automation and Electronics
Section of Electronics, Robotics and Automation

Cite this document

Komadina, I. (2020). Izrada autonomnog mobilog robota za mapiranje/lokalizaciju temeljenog na Raspberry PI mikrokontroleru (Master's thesis). Rijeka: University of Rijeka, Faculty of Engineering. Retrieved from https://urn.nsk.hr/urn:nbn:hr:190:546427

Komadina, Ivan. "Izrada autonomnog mobilog robota za mapiranje/lokalizaciju temeljenog na Raspberry PI mikrokontroleru." Master's thesis, University of Rijeka, Faculty of Engineering, 2020. https://urn.nsk.hr/urn:nbn:hr:190:546427

Komadina, Ivan. "Izrada autonomnog mobilog robota za mapiranje/lokalizaciju temeljenog na Raspberry PI mikrokontroleru." Master's thesis, University of Rijeka, Faculty of Engineering, 2020. https://urn.nsk.hr/urn:nbn:hr:190:546427

Komadina, I. (2020). 'Izrada autonomnog mobilog robota za mapiranje/lokalizaciju temeljenog na Raspberry PI mikrokontroleru', Master's thesis, University of Rijeka, Faculty of Engineering, accessed 14 April 2024, https://urn.nsk.hr/urn:nbn:hr:190:546427

Komadina I. Izrada autonomnog mobilog robota za mapiranje/lokalizaciju temeljenog na Raspberry PI mikrokontroleru [Master's thesis]. Rijeka: University of Rijeka, Faculty of Engineering; 2020 [cited 2024 April 14] Available at: https://urn.nsk.hr/urn:nbn:hr:190:546427

I. Komadina, "Izrada autonomnog mobilog robota za mapiranje/lokalizaciju temeljenog na Raspberry PI mikrokontroleru", Master's thesis, University of Rijeka, Faculty of Engineering, Rijeka, 2020. Available at: https://urn.nsk.hr/urn:nbn:hr:190:546427

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Metadata
TitleIzrada autonomnog mobilog robota za mapiranje/lokalizaciju temeljenog na Raspberry PI mikrokontroleru
Title (english)Design of an autonomous robot for mapping/localization based on Raspberry Pi microcontroller
AuthorIvan Komadina
MentorZlatan Car (mentor)
Committee memberIvan Volarić (predsjednik povjerenstva)
Committee memberZlatan Car (član povjerenstva)
Committee memberDario Matika (član povjerenstva)
GranterUniversity of Rijeka
Faculty of Engineering
(Department of Automation and Electronics)
(Section of Electronics, Robotics and Automation)
Rijeka
Defense date and country2020-11-26, Croatia
Scientific / art field,
discipline and subdiscipline		TECHNICAL SCIENCES
Electrical Engineering
Abstract
U ovom diplomskom radu razrađena je tema mapiranja prostora i opisana je izrada mobilnog robota za mapiranje prostora. Mobilni robot temelji se na Raspberry PI platformi, dok Arduino platforma služi za sakupljanje podataka. Opisani su i uspoređeni neki od algoritama za mapiranje prostora. Od opisanih algoritama, u izradi robota, korišten je Boustophedon algoritam. Nakon opisanih algoritama, obrađena je tema matematičkog opisivanja prostora. Popisani su i opisani svi elementi koji su potrebni za izradu mobilnog robota za mapiranje, a svakom elementu je objašnjen princip rada. Grafički su prikazani i objašnjeni dijelovi sheme spajanja komponenti. Prikazani su i opisani glavni dijelovi dva programska koda. Jedan programski kod pohranjen je na Arduino platformi, a služi za prikupljanje informacija. Drugi programski kod je pohranjen na Raspberry PI platformi, a služi za iscrtavanje mape i izvođenje odabranog algoritma za mapiranje prostora. Izrađeni robot je testiran na način da je stavljen u okruženje kvadratnog oblika s nekoliko prepreka. Rezultati mapiranja prikazani su i opisani u šestom poglavlju.
Abstract (english)
The topic of this master's thesis is map-building and the creation of an autonomous mobile robot for mapping is described in this work. The autonomous mobile robot is based on the Raspberry PI platform, while the Arduino platform is used for collecting data. Some of the map building algorithms are described and compared in this thesis. Boustophedon algorithm, which is one of the described algorithms, is used for creating the robot. Then, the topic of mathematical description of space is discussed. All the necessary elements, which are needed to create the autonomous mobile robot for mapping, are listed and described and the working principles of each element are explained. The schematics for connecting components together are graphically represented and described. The main parts of two program codes are shown and described. One program code is stored on the Arduino platform and it is used for collecting data, while the other program code is stored on the Raspberry PI platform and it is used for map-building and executing the chosen map building algorithm. The mobile robot is later tested in a square shaped test environment with obstacles. The results of the map building are presented and described in chapter 6.
Keywords
Keywords (english)
Languagecroatian
URN:NBNurn:nbn:hr:190:546427
Study programmeTitle: Graduate University Study of Electrical Engineering
Study programme type: university
Study level: graduate
Academic / professional title: magistar/magistra inženjer/inženjerka elektrotehnike (magistar/magistra inženjer/inženjerka elektrotehnike)
Type of resourceText
File originBorn digital
Access conditionsAccess restricted to students and staff of home institution
Terms of useLicence In copyright icon
Created on2021-09-28 06:26:13