Object

Tytuł odmienny:

Ocena trajektorii ruchu robota na podstawie wybranych algorytmów mapujących ; Ocena trajektorii ruchu robota na podstawie wybranych algorytmów mapujących

Współtwórca:

Natalia DANIEL, Szymon CHERUBIN ; Natalia DANIEL, Szymon CHERUBIN

Abstrakt:

This paper presents the concept of a remotely controlled mobile robot that generates a two-dimensional map of its surroundings. The hardware platform developed relies on the LINUX operating system with the Robot Operating System (ROS) to function properly. The authors focused on discussing the robot's hardware and presenting the software used. In line with the assumptions made, the robot is capable of generating a two-dimensional digital map of its surroundings, as well as of recording images of those surroundings. The robot relies on lidar odometry for identifying its position, meaning that the developed algorithm calculates the vehicle's location based on data from a laser scanner. The main sources of environment-related information acquired by the robot include the following: RPLidar A3M1 laser scanner by Slamtec (generating a digital map) and a 5mpx HD OV5647 camera (capturing images of the surroundings). These devices are coupled with the Raspberry Pi 3B on-board computer via a CSI interface.
; This paper presents the concept of a remotely controlled mobile robot that generates a two-dimensional map of its surroundings. The hardware platform developed relies on the LINUX operating system with the Robot Operating System (ROS) to function properly. The authors focused on discussing the robot's hardware and presenting the software used. In line with the assumptions made, the robot is capable of generating a two-dimensional digital map of its surroundings, as well as of recording images of those surroundings. The robot relies on lidar odometry for identifying its position, meaning that the developed algorithm calculates the vehicle's location based on data from a laser scanner. The main sources of environment-related information acquired by the robot include the following: RPLidar A3M1 laser scanner by Slamtec (generating a digital map) and a 5mpx HD OV5647 camera (capturing images of the surroundings). These devices are coupled with the Raspberry Pi 3B on-board computer via a CSI interface.

Miejsce wydania:

Warszawa
; Warszawa

Wydawca:

Wojskowa Akademia Techniczna ; Wojskowa Akademia Techniczna

Data utworzenia:

2010 r.0

Data złożenia:

2022-08-03 ; 2022-08-03

Data akceptacji:

2022-08-18 ; 2022-08-18

Data wydania:

2024-03-31 ; 2024-03-31

Rozmiar:

B5 ; B5

Identyfikator:

oai:ribes-88.man.poznan.pl:2698

Sygnatura:

doi:10.5604/01.3001.0054.4489 ; doi:10.5604/01.3001.0054.4489

ISSN elektroniczny:

2720-5266 ; 2720-5266

ISSN drukowany:

2081-5891 ; 2081-5891

Język:

angielski ; angielski

Licencja:

click here to follow the link ; click here to follow the link

Właściciel praw:

Wojskowa Akademia Techniczna ; Wojskowa Akademia Techniczna

Strona początkowa:

65 ; 65

Strona końcowa:

82 ; 82

Tom:

15 ; 15

Czasopismo:

PROMECH ; PROMECH

Słowa kluczowe:

mobile robot, 2D map generation, ROS, Linux, Lidar ; mobile robot, 2D map generation, ROS, Linux, Lidar