Development of particle filter and localization of Makeblock mobile robot

Cilj magistrskega dela je določiti lego mobilnega robota z uporabo algoritma filtra delcev in odometrije v času gibanja v znanem okolju s pomočjo meritev razdalj. Pri tem smo uporabili kit komplet Starter proizvajalca Makeblock in ga nadgradili z ultrazvočnimi senzorji ter optičnimi inkrementalnimi dajalniki. Merilniki na mobilnem robotu pa zaradi fizikalnih omejitev, občutljivosti, ločljivosti in šuma iz okolja vsebujejo negotovost, kar zmanjšuje natančnost ocenjene lege. V magistrskem delu so opisane zgradba mobilnega robota in tehnične lastnosti posameznih sestavnih delov. Podana je ocena meritve razdalje z uporabo ultrazvočnega senzorja. Meritve so prikazane v obliki histograma in normalne porazdelitve ter ovrednotene s primerjavo srednje vrednosti izmerjene razdalje in prave vrednosti pri oviri iz lesa ter plastike. Podani sta tudi meritev hitrosti optičnega inkrementalnega dajalnika in njegova ocena. V zadnjem delu magistrskega dela je opisano modeliranje gibanja mobilnega robota v ravnini, določeno s kinematiko in dinamiko. Opisan je način določevanja lege mobilnega robota, ki je težje določljiva zaradi nedeterminističnosti. Pri tem je opisana izvedba algoritma filtra delcev v znanem okolju. Na koncu smo preverili delovanje algoritma filtra delcev in odometrije ter opisali njuno razliko glede na opravljeno meritev.The objective of this master\u27s thesis is to determine the position of a mobile robot during motion within a familiar environment by means of the particle filter algorithm and odometry, and with the help of distance measurements. To do so, we used the Starter Kit Package by Makeblock, which we upgraded with ultrasonic sensors and optical incremental encoders. On account of the physical limitations, sensitivity, definition, and environmental noise, there is an uncertainty factor to the mobile robot\u27s meters, which inhibits the accuracy of the determined position. This thesis describes the structure of the mobile robot and the technical specifications of its individual components. Laid out are the estimates of the distance measurements made by using the ultrasonic sensor. The measurements are presented by means of a histogram and normal distribution, and are evaluated by comparing the median value of the measured distance and the actual value with a wood or plastic obstacle. Also provided are the measurement of the optical incremental encoder\u27s speed and its assessment. The final part of this thesis presents mobile robot motion modelling on a plane, determined by cinematics and dynamics. The manner of determining the mobile robot\u27s position, which is more difficult to determine due to being non-deterministic, is explained. Also described is the implementation of the particle filter algorithm in a familiar environment. In conclusion, we also checked the functioning of the particle filter algorithm and odometry, describing their differences in terms of the measurements taken