Neizrazito prediktivno upravljanje mobilnim robotom

master's thesis

• Title (english): Mobile robot fuzzy predictive control
• Author: Luka Ceraj
• Mentor: Dubravko Majetić (mentor)
• Granter: University of Zagreb; Faculty of Mechanical Engineering and Naval Architecture; Zagreb
• Defense date and country: 2017-03-30, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Mechanical Engineering

Abstract

Mogućnost predikcije, tj. predviđanja nekog događaja u budućnosti na temelju stečenih znanja i prijašnjih iskustava već desetljećima ima važnu ulogu u velikom broju znanstvenih i neznanstvenih disciplina. Predikcija u strojarstvu ima široku primjenu, a posebno u robotici. U ovom radu je prikazan jedan takav primjer. U sustav mobilnog robota biti će implementiran estimator stanja koji će na temelju poznate pozicije estimirati vrijednosti brzine i akceleracije. Na temelju estimiranih podataka mobilni robot će 'predviđati' položaj drugog mobilnog robota u nekom zadanom budućem trenutku, te će na temelju estimiranog položaja pokušati sustići svoj cilj, tj. drugog mobilnog robota, u svrhu skraćivanja potrebne putanje i što je važnije, proteklog vremena. Mobilni robot je upravljan pomoću analitičkog neizrazitog regulatora uz korištenje estimatora stanja. Provedene su simulacije za različite referentne putanje i različita vremenska horizonta predikcije, te različite početne pozicije i orijentacije robota. Po jedan slučaj za svaku definiranu putanju je izveden u laboratoriju na realnim mobilnim robotima.

Abstract (english)

The possibility of prediction, i.e., prediction of a future event on the basis of acquired knowledge and previous experiences for decades has had an important role in a number of scientific and non-scientific disciplines. Prediction in mechanical engineering is widely used, especially in robotics. This paper presents one such example. The mobile robot system will be implemented with state estimator that will, given the known position estimate the value of speed and acceleration. Based on estimated data robot will 'predict' the position of the second mobile robot at a given future time, and will on the basis of the estimated position try to catch up with its target, i.e., second mobile robot, in order to shorten the necessary path and more importantly, the time elapsed. Mobile robot is controlled by analytical fuzzy controller using the state estimator. Simulations were performed for different reference trajectories and different time horizons of prediction, and different starting positions and orientations of the robots. One case for each defined path is performed in the laboratory with the real mobile robots.

• Keywords: predikcija; mobilni roboti; referentna putanja; fuzzy logika; neizraziti sustav; analitički fuzzy regulator; estimator stanja; prediktivni algoritam
• Keywords (english): prediction; mobile robots; reference trajectory; fuzzy logic; fuzzy system; analytical fuzzy controller; state estimator; predictive algorithm
• Language: croatian
• URN:NBN: urn:nbn:hr:235:189296
• 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 19:25:29