Izboljšava lokalizacije mobilnega robota z uporabo inercialne merilne enote

diplomsko delo Visokošolskega strokovnega študijskega programa I. stopnje Strojništvo - Projektno aplikativni program

Blaž Petarin (Author), Rok Vrabič (Mentor)

Abstract

Za transport blaga v skladiščih se danes vedno bolj poslužujemo avtomatiziranih sistemov, ki olajšajo delo zaposlenih, pohitrijo procese in zmanjšajo možnosti za napake. Zaključna naloga obsega programiranje majhnega mobilnega robota DFRobot Maqueen plus V2. Poleg uporabe obstoječih komponent na robotu, smo za namen izboljšanja lokalizacije, robota opremili z inercialno merilno enoto in dodatnim mikrokrmilnikom. Vnos ciljne lokacije robota poteka preko spletnega strežnika. Razvili smo sistem za vodenje robota brez sledenja črti, konstantno delovanje pa je zagotovljeno s samodejno kalibracijo sistema ob zagonu. Kljub začetni kalibraciji bi bilo dobro dodati nekaj referenčnih točk, ki bi preprečile kopičenje napake v položaju robota.

Keywords

diplomske naloge;mobilni roboti;mikrokrmilniki;ESP32;kalibracija robotov;mehatronika;ESP NOW;MPU 6050;

Data

Language:	Slovenian
Year of publishing:	2024
Typology:	2.11 - Undergraduate Thesis
Organization:	UL FS - Faculty of Mechanical Engineering
Publisher:	[B. Petarin]
UDC:	007.52:681.5(043.2)
COBISS:	211123203
Views:	101
Downloads:	59
Average score:	0 (0 votes)
Metadata:

Other data

Secondary language:	English
Secondary title:	Improving mobile robot localization using inertial measurement unit
Secondary abstract:	The transport of goods in wearhouses is increeasingly being handled by automated systems. This can ease the work of employees, speed up processes, and reduce the chances of mistakes. The project involves programming a small mobile robot DFRobot Maqueen Plus V2. Along the use od existing components on the robot, we have added an inertial measurement unit and an additional microcontroller to improve localization. The target location of the robot is entered via a web server. We have developed a system for guidance of the robot without line tracking. Continuous operation is ensured by automatic calibration of the system at startup. Despite the initial calibration, it would be beneficial to add some reference points to prevent the accumulation of the robot's position error.
Secondary keywords:	mobile robots;microcontrollers;ESP 32;robot calibration;mechatronics;ESP NOW;MPU 6050;
Type (COBISS):	Bachelor thesis/paper
Study programme:	0
Embargo end date (OpenAIRE):	1970-01-01
Thesis comment:	Univ. v Ljubljani, Fak. za strojništvo
Pages:	XX, 45 str.
ID:	24920681