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Title:
PRIPRAVA SIMULATORJA GAZEBO ZA SIMULACIJO POSTOPKOV SLAM
Authors:
ID
Breznik, Mirjam
(Author)
ID
Uran, Suzana
(Mentor)
More about this mentor...
Files:
UNI_Breznik_Mirjam_2014.pdf
(4,04 MB)
MD5: 6EDDC9115DA1C8157302A5D1D39C7500
Language:
Slovenian
Work type:
Bachelor thesis/paper
Typology:
2.11 - Undergraduate Thesis
Organization:
FERI - Faculty of Electrical Engineering and Computer Science
Abstract:
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.
Keywords:
robot
,
hector slam
,
ROS
,
določanje položaja
,
gradnja zemljevida
Place of publishing:
Maribor
Publisher:
[M. Breznik]
Year of publishing:
2014
PID:
20.500.12556/DKUM-44986
UDC:
681.5:007.52(043.2)
COBISS.SI-ID:
18286614
NUK URN:
URN:SI:UM:DK:FAAOKULP
Publication date in DKUM:
17.11.2014
Views:
2260
Downloads:
124
Metadata:
Categories:
KTFMB - FERI
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:
BREZNIK, Mirjam, 2014,
PRIPRAVA SIMULATORJA GAZEBO ZA SIMULACIJO POSTOPKOV SLAM
[online]. Bachelor’s thesis. Maribor : M. Breznik. [Accessed 18 April 2025]. Retrieved from: https://dk.um.si/IzpisGradiva.php?lang=eng&id=44986
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Secondary language
Language:
English
Title:
PREPARATION OF GAZEBO SIMULATOR FOR SIMULATION OF SLAM ALGORITHMS
Abstract:
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.
Keywords:
robot
,
hector slam
,
ROS
,
localization
,
mapping
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