Algoritmi vodenja položaja mobilnega robota

magistrsko delo

Martin Adler (Avtor), Uroš Župerl (Mentor), Riko Šafarič (Mentor), Suzana Uran (Komentor)

Povzetek

Magistrska naloga se osredotoča na preučevanje in izdelavo algoritmov vodenja položaja mobilnega robota za igranje robotskega nogometa. Uporabili smo mobilni robot s tremi omni kolesi. Omni kolesa omogočajo robotu lažje in hitrejše premikanje. Za možgane robota smo uporabili mikrokrmilno ploščico Aruduino MEGA 2560 V2.0. Poganjali smo ga s tremi elektromotorji, pozicioniranje pa nam je omogočil žiroskop, oziroma pospeškometer MPU 6050. V nalogi smo poskusili čim bolje predstaviti algoritme vodenja s PID regulacijo in mehko logiko, da bi lahko pridobljeno znanje uporabljali študentje in dijaki na tekmovanjih robotskega nogometa. V nalogi je podrobno opisana izdelava kinematičnega modela robota. Dobljen kinematični model smo uporabili pri izdelavi programov za simulacijski model robota, kot tudi v programih za realni del robota. Prikazali smo simulacijsko vožnjo robota v programu Matlab. Simulacija se lahko odlično uporablja za pedagoške namene, saj je iz nje točno vidno, kako se bo robot obnašal pri različnih hitrostih omni koles. Za primerjavo algoritmov vodenja s P, PI, PD in PID regulatorjem in mehko logiko, smo izdelali simulacijsko progo robota v programu Matlab Simulink. Simulacijske rezultate smo primerjali in podali ugotovitve. Algoritem vodenja mobilnega robota smo napisali v programu Arduino IDE. Uporabili smo ga z mehko logiko in PID regulatorjem. Primerjali smo vožnje z obema algoritmoma in jih grafično primerjali. Primerjali smo tudi simulacijski model robota z realnim robotom. Povzeli smo dobljene rezultate in predlagali najbolj optimalno rešitev vodenja mobilnega robota.

Ključne besede

algoritmi vodenja;mobilni robot;mehka logika;PID regulacija;kinematični model;omni kolesa;magistrske naloge;

Podatki

Jezik:	Slovenski jezik
Leto izida:	2018
Tipologija:	2.09 - Magistrsko delo
Organizacija:	UM FS - Fakulteta za strojništvo
Založnik:	[M. Adler]
UDK:	004.94.021:007.52(043.2)
COBISS:	22283542
Št. ogledov:	692
Št. prenosov:	113
Ocena:	0 (0 glasov)
Metapodatki:

Ostali podatki

Sekundarni jezik:	Angleški jezik
Sekundarni naslov:	Positional control algorithms for mobile robots
Sekundarni povzetek:	The master's thesis focuses on the study and production of mobile robot positioning algorithms for playing robotic football. A mobile robot with three omni wheels has been used. Omni wheels allow the robot easier and faster movements. For the brain of the robot the Arudino MEGA 2560 V2.0 microcontroller board had been used. The robot was powered by three electric motors, and the positioning was enabled by the MPU 6050 gyroscope or accelerometer. In the task, it has been attempted to present the algorithms of PID control and fuzzy logic algorithms in the best possible way so that the acquired knowledge could be used by students at robot football competitions. In the task the creation of a robotic kinematic model is described in detail. The obtained kinematic model has been used in the production of programs for the robot simulation model, as well as in the programs for the robot. A robot simulation run in the Matlab program has been presented. The simulation can be used excellently for pedagogical purposes, because it can be clearly seen how the robot behaves at different speeds of omni wheels. For the comparison of control algorithms with P, PI, PD, and PID controller and fuzzy logic, a simulation robot in the Matlab Simulink program has been made. The results have been simulated, and the findings have been presented. The mobile robot management algorithm has been written in the Arduino IDE program. It has been written with fuzzy logic and PID controller. The driving with both algorithms have been compared, and the comparison has been graphically presented. A comparison of the simulation robot model and the robot has been made as well. The results obtained have been summarised, and the most optimal solution for mobile robot management has been proposed.
Sekundarne ključne besede:	control algorithms;mobile robot;Matlab;Matlab Simulink;Arduino;Arduino IDE;fuzzy logic;PID control;kinematic model;omni wheels;
URN:	URN:SI:UM:
Vrsta dela (COBISS):	Magistrsko delo/naloga
Komentar na gradivo:	Univ. v Mariboru, Fak. za strojništvo, Mehatronika
Strani:	IX, 70 f.
ID:	10989749