Upravljanje mobilnim robotom s diferencijalnim pogonom i ultrazvučnim senzorima udaljenosti

master's thesis

• Title (english): Control of mobile robot with differential drive and ultrasonic distance sensors
• Author: Vedran Tatalović
• Mentor: Josip Kasać (mentor)
• Granter: University of Zagreb; Faculty of Mechanical Engineering and Naval Architecture; Zagreb
• Defense date and country: 2015-01-22, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Mechanical Engineering

Abstract

U ovom radu je proučavana problematika reaktivne navigacije mobilnog robota u nepoznatom prostoru preko metode potencijalnih polja. U tu svrhu je izrađen mobilni robot na diferencijalni pogon sa 5 ultrazvučnih senzora za određivanje udaljenosti mobilnog robota od prepreke. Izrađeni mobilni robot je opisan, zajedno sa svim svojim važnim dijelovima. Uz njihov opis i način rada, navedeni su i razlozi odabira pojedinih dijelova, kao i načini poboljšanja samog mobilnog robota. Upravljanje mobilnim robotom je izvedeno preko dvaju mikrokontrolera u kojima je jedan korišten za prikupljanje podataka sa ultrazvučnih senzora, dok drugi mikrokontroler upravlja samim mobilnim robotom. Opisan je način na koji mikrokontroler upravlja pojedinim upravljačkim sklopovima mobilnog robota, kao i prikupljanje podataka sa senzora. Izvršen je eksperiment za analizu rada pet ultrazvučnih senzora i načina na koji mikrokontroleri međusobno komuniciraju. Za ostvarenje reaktivne navigacije izrađena su tri programa koji analiziraju rad važnijih upravljačkih funkcija. Prvi program je izrađen za namještanje parametara PID regulatora brzine vrtnje kotača mobilnog robota za ostvarenje željene linearne i kutne brzine. Drugi program omogućava namještanje parametara analitičkog neizrazitog regulatora i omogućava mobilnom robotu da slijedi zadanu trajektoriju. Zadnji izrađeni program omogućava reaktivnu navigaciju mobilnog robota preko metode potencijalnih polja, kao i namještanje njenih parametara. Na sva tri programa su izvedena testiranja na osnovu kojih su donesneni neki zaključci o samom radu mobilnog robota. Mobilni robot je programiran u sučelju Arduino IDE 1.5.7, dok je program na računalu izrađen u programskom jeziku Python 2.6.

Abstract (english)

The main task of this work was to program the reactive navigation of a mobile robot based on potential field method, as well as creation of programs for testing PID regulator and analytical fuzzy regulator. For the purposes of testing these programs, a differential-drive mobile robot with 5 ultrasonic range finders for determining the distance from the obstacle was constructed. Mobile robot is controlled by two microcontrollers, one of which was used for collection of ultrasonic range finders data, while the second one controls the robot itself. The method of controlling the individual parts of mobile robot, and data collection from sensors, are explained. Experiment was made to check the sensor way of working, as well as their communication. In order to achieve reactive navigation, three programs were made, each analyzing its particular control function. First program sets PID regulator parameters of left and right wheels speeds, in order to achieve the needed translational and rotational speed. Second program allows setting of analytical fuzzy regulator parameters, and enables the mobile robot to follow a set trajectory. Last created program enables the reactive navigation of mobile robot using the potential field method, as well as setting of its parameters. All three programs were tested and their results analyzed in order to draw conclusions about the way that mobile robot works. Mobile robot was programmed in Arduino IDE 1.5.7, while the computer program was coded in Python 2.6 programming language.

• Keywords: reaktivna navigacija; metoda potencijalnih polja; PID regulator; Analitički neizraziti regulator; mobilni robot; diferencijalni pogon; ultrazvučni senzor; Arduino; Python
• Keywords (english): reactive navigation; potential field method; PID regulator; analytical fuzzy regulator; mobile robot; differential drive; ultrasonic range finder; Arduino; Python
• Language: croatian
• URN:NBN: urn:nbn:hr:235:327590
• Study programme: Title: Mechanical Engineering; Study programme type: university; Study level: graduate; Academic / professional title: magistar/magistra inženjer/inženjerka strojarstva (magistar/magistra inženjer/inženjerka strojarstva)
• Type of resource: Text
• File origin: Born digital
• Access conditions: Open access
• Created on: 2019-05-22 12:26:30