20.500.12556/DKUM-79683 Razvoj algoritma za avtonomno vožnjo robota v ros/gazebo okolju diplomsko delo The development of an algorithm for autonomous robot driving in ros/gazebo environment Diplomska naloga povzema snovanje algoritmov za avtonomno vožnjo robota v različnih simulacijskih okoljih. Pri tem so uporabljeni različni senzorji, kot so LiDAR, IMU in inkrementalni ter absolutni dajalniki za odometrijo. Algoritem je zapisan v C++ programskem jeziku, ki je namenjen meta robotskemu operacijskemu sistemu ROS. Ob tem je uporabljeno simulacijsko okolje Gazebo, ki služi kot pripomoček, za naključno generiranje testnih okolij, ki so bila tudi del tekmovanja Field Robot Event 2021. To je sestavljeno iz več nalog, kjer prva predstavlja avtonomno vožnjo robotov po ukrivljenih vrstah, na koncu katerih je potrebno zaviti v naslednjo vrsto. Drugo nalogo pa sestavljajo ravne vrst, deloma nepopolne vrste, kjer mora robot prevoziti le določene vrste, po v naprej določenem zaporedju. Razvita algoritma sta bila testirana v simulacijskem okolju in ovrednotena v primerjavi z drugimi podobnimi rešitvami na tekmovanju poljskih robotov Field Robot Event 2021. The diploma thesis summarizes the development process of algorithms for autonomous driving in different simulated environments. Various sensors are used in the process, such as LiDAR, IMU or incremental and absolute encoders for odometry. The algorithm is written in C++ programming language for the meta-operating system ROS. In addition, the Gazebo simulation environment is used, which serves as a tool for randomly generating test environments, that were part of the Field Robot Event 2021. The event consists of several tasks, starting with basic navigation where the robot must autonomously drive between curved rows of maze plants and turn in to the next inrow space at the end. The second task is made up of straight rows, where the robot must travel only through certain inrow spaces, in a predetermined sequence. The developed algorithms were tested in a simulation environment and evaluated in comparison with other similar solutions at the Field Robot Event 2021. FarmBeast Field Robot Event avtonomna vožnja ROS Gazebo FarmBeast Field Robot Event Autonomous Driving ROS Rviz Gazebo true true false [G. Popič] Slovenski jezik Angleški jezik Diplomsko delo/naloga 2021-08-11 10:52:34 2021-08-30 11:19:56 2022-08-09 21:54:12 0000-00-00 00:00:00 2021 0 Maribor 0 Maribor VI, 38 str. 0000-00-00 NiDoloceno NiDoloceno NiDoloceno 0000-00-00 0000-00-00 0000-00-00 681.5.017(043.2) 101188099 UN_Popic_Gregor_2021.pdf UN_Popic_Gregor_2021.pdf 1 D8963E9E2824AC81BC8AA21FED3F887B 5982564d5bd7310eca6a427e2605c9cd024dafd3e57f68267585906c07845278 b5ebccd8-08e2-11ec-9e82-00155d581298 20.500.12556/dkum/6e53920b-0e30-47a0-a383-99691da027d3 https://dk.um.si/Dokument.php?lang=slv&id=152554 Fakulteta za strojništvo 0 0 0