Izvedba sistema za usklajeno vodenje in nadzor izvajanja nalog skupine avtomatsko vodenih vozičkov

Tabaković, Bećir (avtor), Zdešar, Andrej (mentor)

Magistrsko delo obravnava zasnovo in izvedbo sistema za koordinacijo več avtomatsko vodenih vozičkov. Ti predstavljajo avtonomne robote, sposobne samostojnega gibanja in izvajanja dodeljenih nalog. Glavni cilj dela je bil razvoj prototipa sistema, ki omogoča centralizirano dodeljevanje ukazov, sinhronizacijo nalog in sprotno spremljanje položaja robotov. Za potrebe sistema je bil v programskem jeziku python razvit program, ki omogoča komunikacijo z roboti ter njihovo vodenje in nadzor gibanja. Program vključuje algoritme za razporejanje nalog in načrtovanje optimalnih poti. Sistem je bil preizkušen na robotih Ozobot, ki zaradi svoje enostavne zasnove in natančnega gibanja predstavljajo primeren model za razvoj in testiranje konceptov avtomatsko vodenih vozičkov. Pomemben del sistema predstavlja zemljevid okolja, ki je zasnovan kot graf cestnega omrežja. Zemljevid predstavlja pomanjšan model industrijskega skladišča, v katerem roboti opravljajo naloge transporta materiala med posameznimi postajami. Na podlagi strukture zemljevida sistem z uporabo algoritma A* izračuna optimalno pot med izbrano začetno in ciljno postajo ter generira zaporedje ukazov, ki jih roboti nato samodejno izvajajo. Sledenje položaja robotov je izvedeno s pomočjo nadzorne kamere, ki uporablja metode računalniškega vida. Kamera v realnem času zaznava barve LED-lučki na robotih in na podlagi tega določa njihove trenutne položaje. Sistem omogoča primerjavo med predvideno in zaznano trajektorijo ter tako preverja natančnost izvedenih nalog in delovanje algoritmov za vodenje. Razviti prototip je bil uspešno preizkušen v eksperimentalnem okolju. Rezultati so pokazali, da sistem vzpostavlja zanesljivo komunikacijo z roboti ter učinkovito načrtuje poti. Sistem natančno sledi položaju robotov, ki usklajeno izvajajo dodeljene naloge. To potrjuje uspešno delovanje zasnovanega sistema in njegovo uporabnost pri razvoju avtonomnih transportnih rešitev.

• Jezik: Slovenski jezik
• Ključne besede: avtonomni mobilni sistemi, strojni vid, python, Ozobot, avtomatsko vodeni vozički, vodenje, nadzor, sledenje položaja, optimizacija
• Vrsta gradiva: Magistrsko delo/naloga
• Tipologija: 2.09 - Magistrsko delo
• Organizacija: FE - Fakulteta za elektrotehniko
• Leto izida: 2025
• PID: 20.500.12556/RUL-175181
• COBISS.SI-ID: 258030083
• Datum objave v RUL: 20.10.2025

Sekundarni jezik

• Jezik: Angleški jezik
• Naslov: Implementation of Coordinated Control and Task Supervision System for a Fleet of Automated Guided Vehicles

Izvleček

The master’s thesis focuses on the design and implementation of a system for coordinating multiple automated guided vehicles (AGVs). These represent autonomous robots capable of independent movement and task execution. The main objective of the thesis was to develop a prototype system that enables centralized command allocation, task synchronization, and real-time position monitoring of the robots. To support the system, a program was developed in Python to facilitate communication with the robots, as well as their control and movement monitoring. The program incorporates algorithms for task scheduling and optimal path planning. The system was tested using Ozobot robots, which, due to their simple design and precise movement, serve as a suitable model for developing and testing concepts of automated guided vehicles. An important part of the system is the environmental map, designed as a graph-based road network. The map represents a scaled-down model of an industrial warehouse, where robots perform material transport tasks between individual stations. Based on the map’s structure, the system uses the A* algorithm to calculate the optimal path between a selected start and target station, generating a sequence of commands that the robots execute automatically. Robot position tracking is performed using a surveillance camera that applies computer vision techniques. The camera detects the colors of the robots’ LED lights in real time and determines their current positions. The system enables comparison between the planned and detected trajectories, thus verifying the accuracy of task execution and the effectiveness of the control algorithms. The developed prototype was successfully tested in an experimental environment. The results demonstrated that the system establishes reliable communication with the robots and efficiently plans their routes. The system accurately tracks the positions of the robots, which perform their assigned tasks in a coordinated manner. This findings confirm the successful operation of the designed system and its potential usefulness in developing autonomous transport solutions.

• Ključne besede: autonomous mobile systems, computer vision, Python, Ozobot, automated guided vehicles, control, monitoring, position tracking, optimization