Bartosz Sosik

Praca inżynierska

System sterowania robota TIAGo do poszukiwania obiektów w mieszkaniu

Rozpoczęcie: luty 2023
Obrona: luty 2024
Promotor: Wojciech Dudek

Modern robotics is increasingly focusing on adaptation of various types of solutions to daily life. We can observe the development not only of industrial robots, but also of social and service robots. An example of such solution is TIAGo, produced by PAL Robotics company. It has been equipped with numerous sensors, such as RGB-D camera placed on the head, laser and sonars in the mobile base, as well as the microphone and the speaker. The goal of the thesis is to develop a control system of TIAGo robot to perform the task of searching for objects in the apartment. Such solution could support elderly or disabled people in daily activities. In order to achieve this goal, integration of navigation, vision system and communication interface is required. The system has been designed on the basis of ROS2 (Robot Operating System 2). It is a relatively new solution in the robotics market - the first full, official distribution was released at the end of 2017, as a successor to ROS1. It offers a wide range of packages, libraries and tools for programming, control and simulation of robots. The use of ROS2 made it possible to create a modular system, in which each component has a dedicated task. Navigation has been configured based on the Nav2 package, whereas YOLOv8 neural network has been used for object detection. Communication with human is through the voice commands and to implement it, Google libraries were used. After integrating everything into the whole, numerous tests were conducted in a simulated environment, which confirmed its correct operation.




  1. B. Sosik
    System sterowania robota TIAGo do poszukiwania obiektów w mieszkaniu
    Bachelor’s thesis, IAiIS, 2024
     Tutor: Wojciech Dudek
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