Design of an autonomous robot for mapping/localization based on Raspberry Pi microcontroller

U ovom diplomskom radu razrađena je tema mapiranja prostora i opisana je izrada mobilnog robota za mapiranje prostora. Mobilni robot temelji se na Raspberry PI platformi, dok Arduino platforma služi za sakupljanje podataka. Opisani su i uspoređeni neki od algoritama za mapiranje prostora. Od opisanih algoritama, u izradi robota, korišten je Boustophedon algoritam. Nakon opisanih algoritama, obrađena je tema matematičkog opisivanja prostora. Popisani su i opisani svi elementi koji su potrebni za izradu mobilnog robota za mapiranje, a svakom elementu je objašnjen princip rada. Grafički su prikazani i objašnjeni dijelovi sheme spajanja komponenti. Prikazani su i opisani glavni dijelovi dva programska koda. Jedan programski kod pohranjen je na Arduino platformi, a služi za prikupljanje informacija. Drugi programski kod je pohranjen na Raspberry PI platformi, a služi za iscrtavanje mape i izvođenje odabranog algoritma za mapiranje prostora. Izrađeni robot je testiran na način da je stavljen u okruženje kvadratnog oblika s nekoliko prepreka. Rezultati mapiranja prikazani su i opisani u šestom poglavlju.The topic of this master's thesis is map-building and the creation of an autonomous mobile robot for mapping is described in this work. The autonomous mobile robot is based on the Raspberry PI platform, while the Arduino platform is used for collecting data. Some of the map building algorithms are described and compared in this thesis. Boustophedon algorithm, which is one of the described algorithms, is used for creating the robot. Then, the topic of mathematical description of space is discussed. All the necessary elements, which are needed to create the autonomous mobile robot for mapping, are listed and described and the working principles of each element are explained. The schematics for connecting components together are graphically represented and described. The main parts of two program codes are shown and described. One program code is stored on the Arduino platform and it is used for collecting data, while the other program code is stored on the Raspberry PI platform and it is used for map-building and executing the chosen map building algorithm. The mobile robot is later tested in a square shaped test environment with obstacles. The results of the map building are presented and described in chapter 6