Mobile robot for localization and room mapping with a distance sensor

V diplomskem delu smo izdelali konstrukcijo, elektronske komponente in programsko opremo mobilnega robota za izvajanje algoritma SLAM. Izdelali smo namizno aplikacijo, ki je zadolžena za komunikacijo z robotom ter njegovo upravljanje. Opisali smo delovanje algoritma SLAM za kartiranje prostora ter med seboj primerjali rezultate kartiranja pri uporabi različnih nastavitev. Najboljši rezultati so ohranili obliko prostora ter njegove dimenzije z natančnostjo do 2 %.In the diploma thesis, we describe the construction, electronic components, and software of a mobile robot, with the focus on the implementation of the SLAM algorithm. We created a desktop application that is controlling communication with the robot and driving the robot. We described the operation of the SLAM algorithm for spatial mapping and compared the mapping results with different settings. The best results have retained the shape of the space with an accuracy of up to 2 %