master's thesis
APPLICATION OFAUTONOMOUS MOBILE ROBOT WITH DIFERENTIAL DRIVE FOR LOCATION AND FOLLOWING TRAJECTORY

Andrej Danyi (2015)
Sveučilište u Rijeci
Pomorski fakultet u Rijeci
Zavod za elektrotehniku, automatiku i informatiku
Metadata
TitlePrimjena autonomnog mobilnog robota s diferencijalnim pogonom za pozicioniranje i slijeđenje referentne trajektorije
AuthorAndrej Danyi
Mentor(s)Vinko Tomas (thesis advisor)
Abstract
Ovim je radom autor pokušao približiti primjenu autonomnog mobilnog robota za slijeđenje referentnih trajektorija u sustavu automatskog upravljanja. Također, uspješno je realiziran praktični primjer korištenja Zumo robota temeljenog na Arduino platformi pomoću programskog alata Matlab i Simulink. Navedena je i primjena PID upravljača u svrhu preciznog upravljanja sustavom, te je detaljno obrazložen matematički model PID upravljača kao i postupak realizacije algoritma za upravljanje autonomnim robotom. Navedene su sve prednosti korištenja ovakvog sustava, ali je također ukazana i mogućnost potencijalnog nedostatka. Provedeno je testiranje ovoga sustava na različitim podlogama te je dana analiza dobivenih rezultata.
KeywordsZumo Arduino microcontroler PID Matlab Simulink trajectory autonomus control diferential drive
Parallel title (English)APPLICATION OFAUTONOMOUS MOBILE ROBOT WITH DIFERENTIAL DRIVE FOR LOCATION AND FOLLOWING TRAJECTORY
Committee MembersNikola Tomac
Irena Jurdana
GranterSveučilište u Rijeci
Pomorski fakultet u Rijeci
Lower level organizational unitsZavod za elektrotehniku, automatiku i informatiku
PlaceRijeka
StateCroatia
Scientific field, discipline, subdisciplineTECHNICAL SCIENCES
Traffic and Transport Technology
Maritime and River Traffic
Study programme typeuniversity
Study levelgraduate
Study programmeMarine Electronic Engineering and Information Technology
Academic title abbreviationmag. ing. el.
Genremaster's thesis
Language Croatian
Defense date2015-10-15
Parallel abstract (English)
The author has tried to approach the application of the autonomous mobile robot to follow the reference trajectory in the automatic control system. Also, has successfully implemented a practical example of using Zumo robot based on the Arduino platform by using the programming tools Matlab and Simulink. In this thesis there is explained application of PID controller in order to accurately control the system, and explains in detail the mathematical model of the PID controller and the procedure of implementation of the algorithm for the management of autonomous robot. These are all the advantages of using such a system but there is also the possibility of a potential defect. Finally, testing was conducted on this system on a variety of surfaces, and an analysis of the results.
Parallel keywords (Croatian)Zumo Arduino mikroupravljač PID Matlab Simulink trajektorija autonomno upravljanje diferencijalni pogon
Resource typetext
Access conditionAccess restricted to students and staff of home institution
Terms of usehttp://rightsstatements.org/vocab/InC/1.0/
URN:NBNhttps://urn.nsk.hr/urn:nbn:hr:187:896231
CommitterDolores Markotić