Planning and execution of mobile robot path based on target location and information from 3D camera and laser

Planiranje i izvod¯enje putanje mobilnog robota na temelju zadanog cilja i informacija s 3D kamere i laserskog senzora izvedeno je pomo´cu dva algoritma. Algoritmom pure pursuit se odred¯uje najbrža putanja kojom se robot mora kretati kako bi došao do željenog cilja. Cilj se odred¯uje cˇitanjem koordinatnih vrijednosti ARTaga pomoc´u kamere. Na putu do cilja robot nailazi na prepreke i pomo´cu algoritma potencijala polja preraˇcunava putanju kojom se mora kretati. Simulacija sustava izvedena je u alatu Gazebo, a eksperimentalna evaluacija na robotu Pioneer P3-DX u zgradi Fakulteta Elektrotehnike i Raˇcunarstva.Planning and execution of mobile robot path based on target location and information from 3D camera and laser is accomplished by using two algorithms. Pure pursuit algorithm determines the fastest path for the robot to reach the desired target. The target is determined by reading the coordinate values of ARTag using the camera. On the way to the target, the robot encounters obstacles and uses potential field algorithm to recalculate the path. Simulations are executed in Gazebo, whereas experimental evaluation is carried out on a Pioneer P3-DX robot inside the Faculty of Electrical Engineering and Computing builiding