Explorace vnitřního prostředí pomocí platformy IRobot Create
Title Alternative:Exploration of the indoor environment using iRobot Create platform
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Date
2012
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Publisher
Technická Univerzita v Liberci
Abstract
Hlavním cílem této práce bylo vybrat, podrobně otestovat a osadit vhodný dálkový senzor pro platformu iRobot Create. Následně pak vytvořit aplikaci demonstrující využití osazeného senzoru v praxi - tj. vytvořit aplikaci, která bude řídit robota tak, aby se vyhnul překážkám, a nabídne uživateli jednoduchou mapu prostředí, kam překážky zakreslí. Práce v úvodu představí platformu iRobot Create a navrhne optimální cenově dostupný dálko-měr pro rozšíření jejich možností. Hlavní část práce je věnována rozboru senzoru Microsoft Kinect a zpracování jeho výstupních dat - obrazu. U senzoru je popsán jeho funkční princip a následně je provedena série testů, které se zaměřují na jeho klady a zápory při použití v mobilní robotice. Z výsledků těchto měření vychází závěry, ze kterých je možné určit optimální umístění senzoru i možné operační nasazení. Pro potřeby projektu bylo vytvořeno několik programů, které se zabývají prací se senzorem a zpracováním jeho obrazu (např. nalezení objektů). Poslední aplikace kombinuje využití knihovny ovládající robota spolu s vytvořenou knihovnou pro senzor Kinect a demonstruje možné využití senzoru v mobilní robotice.
The main goal of this project was to choose, test and set up a suitable remote sensor for iRobot Create platform. Consequently to create an application demonstrating the usage of a set up sensor in practice - that being, to create an application which would control the robot so it would dodge obstacles and which would offer a simple map of environment where these obstacles are to be drawn for the user. In the introduction of the writing the iRobot Create platform is presented and an optimally cost-accessible distance meter is suggested for expanding it?s capabilities. The main part of the writing is devoted to examination of a Microsoft Kinect sensor and processing of it?s output data - the video. The functional principle is described in the sensor part, followed by a series of tests which focus on it?s positives and negatives with usage in mobile robotics. From the results of these tests are made conclusions from which it is possible to tell the optimal placement of the sensor and it?s possible operation deployment. For the needs of this project, there were created multiple program which are engaged with working with the sensor and processing of it?s video (e.g. finding of objects). The last application combines utilising of the library controlling the robot with created library for Microsoft Kinect sensor, and demonstrates possible utilisation of the sensor in mobile robotics.
The main goal of this project was to choose, test and set up a suitable remote sensor for iRobot Create platform. Consequently to create an application demonstrating the usage of a set up sensor in practice - that being, to create an application which would control the robot so it would dodge obstacles and which would offer a simple map of environment where these obstacles are to be drawn for the user. In the introduction of the writing the iRobot Create platform is presented and an optimally cost-accessible distance meter is suggested for expanding it?s capabilities. The main part of the writing is devoted to examination of a Microsoft Kinect sensor and processing of it?s output data - the video. The functional principle is described in the sensor part, followed by a series of tests which focus on it?s positives and negatives with usage in mobile robotics. From the results of these tests are made conclusions from which it is possible to tell the optimal placement of the sensor and it?s possible operation deployment. For the needs of this project, there were created multiple program which are engaged with working with the sensor and processing of it?s video (e.g. finding of objects). The last application combines utilising of the library controlling the robot with created library for Microsoft Kinect sensor, and demonstrates possible utilisation of the sensor in mobile robotics.
Description
katedra: MTI; přílohy: 1 CD; rozsah: 60
Subject(s)
senzor kinect, irobot create, mobilní robotika, zpracování obrazu, robotická explorace, kinect sensor, irobot create, mobile robotics, image processing, robotic exploration