20.500.12556/DKUM-95478 Lokalizacija, zaznavanje objektov in navigacija robota FarmBeast v ograjenem okolju magistrsko delo Localization, object detection and navigation of the robot FarmBeast in a confined environment Magistrsko delo zajema razvoj in implementacijo algoritmov za lokalizacijo, navigacijo in zaznavanje objektov v ograjenem okolju. Ti so bili implementirani na robotu FarmBeast, ki je bil uporabljen na tekmovanju FRE 2025. Pri delovanju sistema so bili uporabljeni senzorji LiDAR, RGBD kamere in IMU. Za načrtovanje poti so bile primerjane metode A*, D* in hibridni A* z nadaljnjo implementacijo A* in okrnjene verzije hibridne A*. Podobno so bile ocenjene metode vodenja PD, PID in pure pursuit ter na podlagi meritev implementirana pure pursuit. Lokalizacija je bila izvedena z uporabo obstoječe knjižnice Hector SLAM, ki omogoča kartiranje okolice z enovrstičnim LiDAR-jem. Rezultati potrjujejo učinkovitost uporabljenih algoritmov in metod, kar dokazuje tudi doseženo 2. mesto na tekmovanju FRE 2025. The master’s thesis covers the development and implementation of algorithms for localization, navigation and detection of objects in a confined environment. These were implemented on the FarmBeast robot, which was used in the FRE 2025 competition. LiDAR sensors, RGBD cameras and IMU were used in the system’s operation. For path planning, the A*, D* and hybrid A* methods were compared with a further implementation of A* and a simplified version of hybrid A*. Similarly, the PD, PID and pure pursuit guidance methods were evaluated, and pure pursuit was implemented based on the measurements. Localization was performed using the existing Hector SLAM library, which enables mapping of the environment with a single-line LiDAR. The results confirm the effectiveness of the algorithms and methods used, as evidenced by the second place achieved in the FRE 2025 competition. FarmBeast robot lokalizacija avtonomna navigacija zaznavanje objektov SLAM FarmBeast robot localization autonomous navigation object detection SLAM true true false [U. Naveršnik] Slovenski jezik Angleški jezik Magistrsko delo/naloga 2025-09-21 10:14:09 2025-10-23 10:06:03 2025-12-16 03:08:52 0000-00-00 00:00:00 2025 0 Maribor 0 Maribor 1 spletni vir (1 datoteka PDF (XV, 91 str.)) 0000-00-00 NiDoloceno NiDoloceno NiDoloceno 0000-00-00 0000-00-00 0000-00-00 007.52:528.8.044.6(043.2) 261332995 MAG_Naversnik_Urban_2025.pdf MAG_Naversnik_Urban_2025.pdf 1 F8DD3F334108CD59D41AD076C1BE9D99 a406d7b490e87ef754f9399c916bdfc52d262578dd87cd709b903d71ba6e3001 1116aedd-96c7-11f0-b110-00155d000105 https://dk.um.si/Dokument.php?lang=slv&id=198896 Fakulteta za elektrotehniko, računalništvo in informatiko 0 0 0