20.500.12556/DKUM-44986 PRIPRAVA SIMULATORJA GAZEBO ZA SIMULACIJO POSTOPKOV SLAM PREPARATION OF GAZEBO SIMULATOR FOR SIMULATION OF SLAM ALGORITHMS Diplomsko delo opisuje pripravo simulacijskega okolja za mobilnega robota, namenjenega tekmovanju RoboCup Rescue. Predstavljen je simulator Gazebo ter ostalo programsko okolje, ki je potrebno za razvoj programov mobilnega robota. Opisana je tudi zgradba robota in njegovih sistemov. Postopek SLAM je predstavljen v svojem poglavju, kjer je podan podrobnejši opis postopka in uporabe paketa hector_mapping. Opisan je tudi algoritem gmapping, ki se prav tako uporablja za izvedbo SLAM postopka. This diploma thesis describes the preparation of simulation environment for a mobile robot, designed for the RoboCup Rescue competition. We described simulator Gazebo and other programming environments, which are necessary for the development of mobile robot programs. We also described the robots structure and its systems. SLAM algoorithm is presented in its own heading, where is described this along the package hector_mapping in details. We described gmapping algorithm, which is also used to solve the SLAM problem. robot hector slam ROS določanje položaja gradnja zemljevida robot hector slam ROS localization mapping true true false [M. Breznik] Slovenski jezik Angleški jezik Diplomsko delo/naloga 2014-07-15 16:41:08 2014-11-17 13:18:11 2022-05-14 03:06:54 2021-05-01 03:31:53 2014 0 Maribor 0 0000-00-00 NiDoloceno NiDoloceno NiDoloceno 0000-00-00 0000-00-00 0000-00-00 681.5:007.52(043.2) 18286614 URN:SI:UM:DK:FAAOKULP UNI_Breznik_Mirjam_2014.pdf UNI_Breznik_Mirjam_2014.pdf 1 6EDDC9115DA1C8157302A5D1D39C7500 3f5f0fbb151bebb4a7530f7cabeeef00f0ed1a8b87f4f26bf82654287c4de83b fdb68515-7c0a-11eb-bb7a-00155d0001ca https://dk.um.si/Dokument.php?lang=slv&id=64926 Fakulteta za elektrotehniko, računalništvo in informatiko 0 0 0