Guidance of autonomous robot with internal localization and mapping of unknown space

V tem delu so predstavljene strojne in programske rešitve za izgradnjo avtonomnega robota. Pri zajemu zunanjih podatkov okolice robot računa interno lokalizacijo ter s pomočjo informacije o prepotovani razdalji in smeri, robot kartira okolico v neznanem prostoru. V delu so opisane komponente za natančno merjenje veličin, zraven pa poudarjene regulacije, ki pripomorejo h kalibraciji sistema na zunanjo okolico.This work describes a solutions of a hardware and software problems in designing of an autonomous robot. By capturing environment data, robot calculates current position at given time regarding to the past knowledge of distance and heading direction, which allows to map its enviroment in unknown space. Further, document describes tehnical solution to accurate measurments, alongside with regulations of system for calibration with external point of reference