Návrh subsystému pro lokalizaci a navigaci MR

Abstract

This Master’s thesis covers design, implementation, and verification of the modular R-MODUS localization and navigation subsystem for indoor mobile robots. The design uses a central configuration file, ROS 2, and a web interface without terminal-only workflows. Verification covered Gazebo Sim and a physical prototype; modular architecture, web-based diagnostics, safety mechanisms, and part of the LiDAR mapping chain were confirmed. Full localization and autonomous navigation on hardware were only partially validated due to sensor integration and a heterogeneous ROS 2 setup (see the thesis). Results nonetheless support deployability, portability, and reproducibility of the open subsystem.