Navigation of field robot

Martin Turk (2018) Navigation of field robot. EngD thesis.

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Abstract

Advanced robot systems have already substituted the human factor in many fields of work and we can only imagine what the future will bring. In order for a robot to be intelligent, to perform better at executing tasks than human, they need to be autonomous. We developed a robot for Field Robot Event competition, where it needs to be able to autonomously navigate through a corn field. In this thesis, we developed a robot application which is respon- sible for autonomous navigation with LIDAR sensor and proposed how to improve the navigation with camera recognition. The data collected with LIDAR usually contains a lot of noise, which we reduce with DBSCAN clus- tering algorithm. In conclusion, we present the results from the competition, DBSCAN algorithm, and camera recognition. We also propose a few im- provements and future plans.

Item Type:

Thesis (EngD thesis)

Keywords:

autonomous navigation, robot, LIDAR, DBSCAN, Robot Op- eration System, CNN

Number of Pages:

Language of Content:

Slovenian

Mentor / Comentors:

Name and Surname	ID	Function
izr. prof. dr. Danijel Skočaj	296	Mentor

Link to COBISS:

http://www.cobiss.si/scripts/cobiss?command=search&base=51012&select=(ID=1537953731)

Institution:

University of Ljubljana

Department:

Faculty of Computer and Information Science

Item ID:

4179

Date Deposited:

05 Sep 2018 13:29

Last Modified:

04 Oct 2018 13:51

URI:

http://eprints.fri.uni-lj.si/id/eprint/4179

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