| Abstract [eng] |
Popularity of the mobile robots is growing all the time. In this project, the ways to determine position of the robot are analyzed. The navigation system of the Pioneer P3AT robot with the laser scanner is examined. ROS (Robot operating system) program are used for the investigation. The packages of the ROS program which are required for navigation were examined. The sensors are compiled and calibrated because of the more accurate values. Mobile robot needs to know its location for the reliable movement in the room. The reliability and accuracy of the position are the biggest problems of the mobile robots. Monte Carlo localization method is used in this project. This method was experimentally tested and the accuracy was examined. The influence of the amount of the elements for the final destination is examined. The variable number of the elements was measured using adaptive Monte Carlo algorithm. The environment is scanned using the laser scanner all the time, consequently even if there are some unknown obstacles in the way of the robot, it is able to plan the different rout. The effect for the movement of the robot is checked by changing navigation coefficients. The planning of the map and the rout is done in the ROS environment, where the active processes were visible in the screen of the laptop. The autonomous transport vehicle which reaches the indicated coordinates in the shortest distance in the 2D map using the data of the laser scanner was received in this project. Firstly, the 2D map of the wanted environment for the movement of the robot is created by the same laser scanner. Further, the robot goes to the indicated coordinates in the shortest distance by avoiding the obstacles that appears using the 2D map that it has received. |
