System lokalizacji terenowego robota mobilnego Sirius 2

This thesis presents the development of a localization system for Sirius 2, a differential drive, four-wheeled mobile robot. It explores various localization methods, assessing their suitability for the Sirius 2 project, which is designed to meet the requirements of competitions such as the European Rover Challenge (ERC) and University Rover Challenge (URC). The study includes the creation of a robot simulation incorporating a basic localization system, which is an initial step towards a more comprehensive system for real-world scenarios. Central to this thesis is the integration of multiple localization sources through an Extended Kalman Filter, including GPS, IMU, wheel odometry, and fiducial marker recognition. The thesis utilizes the Robot Operating System (ROS) Noetic, aiming to adhere to both official standards and informal conventions. The thesis concludes by outlining future development directions for the localization system with the perspective of the ongoing commitment to evolving the Sirius 2 project.

1. G. Brzeziński
   System lokalizacji terenowego robota mobilnego Sirius 2
   Bachelor’s thesis, IAiIS, 2024
   Tutor: Wojciech Dudek
   [ BIB ]

   @mastersthesis{gbrzezinski-bsc-24-twiki,
     author = {Brzeziński, Gabriel},
     school = {WEiTI},
     title = {{System lokalizacji terenowego robota mobilnego Sirius 2}},
     year = {2024},
     type = {Bachelor's thesis},
     lang = {pl},
     organization = {IAiIS},
     publisher = {IAiIS},
     tutor = {Wojciech Dudek},
     twiki = {bsc}
   }