Naslov
Lokalizacija visoke točnosti mobilnih robota u zatvorenim industrijskim okruženjima bez korištenja markera
(High precision markerless localization of mobile robots in indoor industrial environments)

Autori
Vasiljević, Goran

Vrsta, podvrsta i kategorija rada
Ocjenski radovi, doktorska disertacija

Fakultet
Fakultet elektrotehnike i računarstva

Mjesto
Zagreb

Datum
24.10

Godina
2017

Stranica
104

Mentor
Zdenko Kovacic

Ključne riječi
Mobile robot localization, autonomous forklift, industrial environments, markerless localization, long term autonomy

Sažetak
The topic of this PhD thesis is the precise localization of mobile robots in industrial environments based on laser range scanning and without installed markers. During the research, new localization methods were developed to achieve the accuracy required within specific industrial applications that had previously been achieved only by markers. Two methods for localization using a laser range scanner were investigated, with the first method improving the accuracy of the existing AMCL-based methods, and the other achieving improved accuracy by fusing data from laser scanners placed at different height levels of the mobile robot (industrial forklift). New methods have been implemented on a real autonomous forklift using ROS (Robot Operating System) and their performance validated in realistic industrial conditions. Robustness of algorithms has been tested under conditions of fast and slow changes in the environment as well as resistance to possible accumulation of errors during long-term robot movement.

Izvorni jezik
Engleski

Znanstvena područja
Elektrotehnika, Temeljne tehničke znanosti

POVEZANOST RADA