Leader-follower algorithm based on information from 3D camera ans laser sensor

Implementiran je algoritam za slijed¯enje korištenjem ocˇitanja s 3D senzora te laserskog senzora udaljenosti. Algoritam se temelji na algoritmu cˇistog slijed¯enja. Implementacija je omogu´cena korištenjem okruženja za razvoj softvera za robote koji se naziva ROS - robotski operacijski sustav. Roboti korišteni pri izvedbi rada su Pioneer 3-DX mobilni roboti. Cilj rada algoritma je izraˇcun potrebne kutne i linearne brzine robota koji prati putanju. Evaluacija rezultata izvedbe algoritma obavljena je najprije u simulatoru robotskih sustava Gazebo. Gazebom je provjeren rad algoritma uz postojanje globalnog koordinatnog sustava što omoguc´uje provjeru logike algoritma. Nakon što je potvrd¯en rad algoritma unutar simulacije prešlo se na provjeru u realnim uvjetima. Provjera rada algoritma bez globalnog koordinatnog sustava izvedena je na robotima P3-DX u prostoru Fakulteta Elektrotehnike i Raˇcunarstva. Provjera je izvedena provod¯enjem eksperimenata uz prilagodbu odred¯enih parametara realnim uvjetima. Provod¯enje spomenutih eksperimenata potvrdilo je tocˇan izracˇun potrebnih brzina te op´cenitu funkcionalnost algoritma.A path tracking algorithm using a 3D sensor and a laser sensor has been implemented. The algorithm is based on the pure pursuit algorithm. The ROS - robot operating system framework was used in the implementation. The robots which were used are Pioneer 3-DX mobile robots. The algorithms goal is to calculate the necessary linear and angular velocity for the robot which is tracking the path. The evaluation of the functionality of the algorithm has firstly been done in the robot system simulator Gazebo. The usage of Gazebo enables the verification of the functionality of the algorithm with an existing global coordinate system. After the functionality of the algorithm in the simulator has been verified, the evaluation has been done in realistic conditions. The evaluation done in realistic conditions without an existing global coordinate system has been done inside the Faculty of Electrical Engineering and Computing using the P3-DX mobile robots. The verification procedure consisted of doing a number of experiments and altering the parameters of the algorithm after each experiment accordingly in regard to the conditions. The experiments have verified that the velocity calculation done in the algorithm is correct thus verifying the functionality of the algorithm