20.500.12556/DKUM-82605 Načrtovanje in sledenje poti kmetijskega robota FarmBeast diplomsko delo Path planning and following of a FarmBeast field robot Kmetijski robot FarmBeast je nastal v okviru obštudijskega dela študentov treh fakultet Univerze v Mariboru. V nadaljevanju diplomske naloge je opisan postopek ustvarjanja algoritma za načrtovanje in sledenje poti ob avtonomni vožnji robota. Naloga robota je, da se avtonomno vozi po polju koruze in ob tem načrtuje pot, kateri bo kasneje sledil. Postopek opisa zajema spoznavanje strojnega dela opreme, predvsem senzorjev, kot so LiDAR, IMU, inkrementalni dajalnik, itd., ki so ključni faktor, da se lahko robot avtonomno premika ter programskega dela, ki je rezultat našega dela. Programske kode so zapisane v programskem jeziku C++, ki je eden najbolj razširjenih jezikov in je priporočljiv za programiranje v meta operacijskem sistemu ROS. ROS deluje na operacijskem sistemu LINUX, na katerem smo uporabljali tudi 3D simulacijsko okolje Gazebo in grafični vmesnik Rviz. The field robot FarmBeast was made as part of extra-curriculum activities where students from three faculties of the University in Maribor participated. This diploma thesis describes the process of creating an algorithm for planning and following a path during the autonomous driving of a robot. The task of the robot is to drive autonomously through the corn field and plan the path, it will follow later. The description process includes getting to know the hardware part of the equipment, especially sensors such as LiDAR, IMU, incremental encoder, etc., which are the key factor for the robot to move autonomously, and the software part that is the result of our work. The program codes are written in the C++ programming language, which is one of the most widely used languages and is recommended for programming in the ROS meta operating system. ROS works on the LINUX operating system, on which we also used the 3D simulation environment Gazebo and the graphical interface Rviz. FarmBeast LiDAR ROS Gazebo FarmBeast LiDAR ROS Gazebo true true false [D. Toš] Slovenski jezik Angleški jezik Diplomsko delo/naloga 2022-08-26 10:37:00 2022-09-14 09:05:20 2023-06-17 03:05:56 0000-00-00 00:00:00 2022 0 Maribor 0 Maribor 1 spletni vir (1 datoteka PDF (X, 38 f.)) 0000-00-00 NiDoloceno NiDoloceno NiDoloceno 0000-00-00 0000-00-00 0000-00-00 621.396.969.3:629.3.014.9(043.2) 155868163 UN_Tos_Domen_2022.pdf UN_Tos_Domen_2022.pdf 1 33DB2D662D8CC7FF3E4B5784A01DD738 db477a72d0233d4d38eee2a4ad91638977715fbb5d6888637746e9cbcf84b6cf 2e9e7601-31dd-11ed-b079-00155d000105 https://dk.um.si/Dokument.php?lang=slv&id=162320 Fakulteta za strojništvo 0 0 0