20.500.12556/RUL-148812 Brezžično vodenje mobilne platforme s pomočjo kamere Camera-based wireless control of a mobile platform Glavni cilj diplomske naloge je načrtovanje in izvedba vodenja mobilne platforme. Vozilo, opremljeno z mikrokrmilnikom in dvema servomotorjema, mora mikroračunalniški regulacijski algoritem po ravni podlagi voditi do končne želene točke, ki se nahaja nekaj centimetrov pred kamero. Povratno informacijo o stanju sistema daje digitalna kamera, ki je povezana na osebni računalnik, ta pa brezžično komunicira z mikrokrmilnikom. Diplomsko delo zajema konstrukcijo štirikolesnega vozila, povezovanje komponent, vzpostavitev komunikacije, razpoznavo in določitev položaja mobilnega sredstva ter končno srž problema, tj. regulacijo. Vodenje v delu realiziramo z uporabo PID-regulatorja. Z njim dosežemo zastavljeni cilj -- vozilo se mora parkirati v ustrezen položaj, ki leži nekaj centimetrov pred kamero, pri čemer mora biti poravnano z osjo vidnega območja. Brezžična komunikacija je dosti manj robustna kot žična, zaprtozančni sistem pa mora pravilno reagirati tudi v primeru zakasnitev pri prenosu. Iz tega razloga po implementaciji robustnega regulacijskega algoritma, ki zagotavlja čim višjo kakovost vodenja v običajnem delovanju, simuliramo delovanje z umetno dodanimi zakasnitvami v merilnem sistemu. Ob prisotnosti različnih zakasnitev ustrezno popravimo parametre regulatorja tako, da sistem čimprej doseže končni položaj, pri čemer ohranja stabilnost. Posodobljena regulacija je tako na račun počasnejšega odziva robustnejša kot osnovna, saj morebitna zakasnitev v komunikaciji ne destabilizira sistema in kljub motnji dosežemo cilj. Rezultat raziskave je robusten algoritem vodenja, ki hkrati zagotavlja visoko kvaliteto vodenja, tudi če pride do večje zakasnitve merilnega sistema. Na posebnem primeru regulacije elektromotorskega pogona spoznamo en tip regulatorja. The main goal of the diploma thesis is to design and implement the control of a mobile platform. A vehicle, equipped with a microcontroller and two servomotors, must be guided by the microcomputer control algorithm on a flat surface to the final desired point, which is located a few centimeters in front of the camera. Feedback on the state of the system is provided by a digital camera connected to a personal computer, which communicates wirelessly with the microcontroller. The thesis covers construction of a four-wheeled vehicle, connection of components, establishment of communication, recognition and determination of the position of the mobile device, and finally the heart of the problem - regulation. Control is realized using a PID controller. With it, we achieve the set goal - the vehicle must park in the desired position, lying a few centimeters in front of the camera, and it must be aligned with the axis of the visible area. Wireless communication is much less robust than wired, and the closed-loop system must react correctly even in case of transmission delays. For this reason, after implementing a robust control algorithm that ensures the highest possible control quality in normal operation, we simulate operation with artificially added delays in the measurement system. In the presence of various delays, we adjust the controller parameters accordingly so that the system reaches the final position as soon as possible, while maintaining stability. The updated regulation is therefore more robust than the basic one at the expense of a slower response, since a possible delay in communication does not destabilize the system and despite the disturbance we reach the goal. The result of the research is a robust control algorithm, which at the same time ensures high control quality, even if there is a greater delay of the measuring system. In the special case of electric motor drive regulation, we learn about one type of regulator. vodenje regulacija PID-regulator zakasnitve pri vodenju brezžično vodenje mikroračunalniški regulator servomotor vsesmerno kolo kamera avtonomno parkiranje control regulation PID controller delays in control wireless control microcomputer controller servomotor omnidirectional wheels camera autonomous parking true false false Slovenski jezik Angleški jezik Diplomsko delo/naloga 2023-08-31 14:01:03 2023-08-31 14:01:07 2023-09-27 15:18:52 0000-00-00 00:00:00 2023 0 0 0000-00-00 NiDoloceno NiDoloceno NiDoloceno 0000-00-00 0000-00-00 0000-00-00 61146 Kresnik_Zan_-_Brezzicno_vodenje_mobilne_platforme_s_pomocjo_kamere.pdf Kresnik_Zan_-_Brezzicno_vodenje_mobilne_platforme_s_pomocjo_kamere.pdf 1 EFA19D07C16F2A7B08795DBA83F849A2 40f4264fab71db5a4032904811212ac3d203f8c6e18096addbed115debaea59c 11bfa9b4-47f6-11ee-af86-0050569b8976 https://repozitorij.uni-lj.si/Dokument.php?lang=slv&id=173172 Fakulteta za elektrotehniko 0 0 0