20.500.12556/RUL-175322 Razvoj digitalnega dvojčka za sistem samodejno vodenih mobilnih robotov Development of a digital twin of a system of autonomously guided mobile robots V zadnjih desetletjih so mobilni roboti postali ključni za avtomatizacijo in optimizacijo interne logistike v industriji. Samodejno vodeni mobilni roboti (ang. Automated Guided Vehicles) so mobilni roboti, ki sledijo trajektorijam, označenih na tleh. Ti roboti so lahko zaznavno omejeni, npr. imajo le senzorje za sledenje črti. To vodi do več omejitev: vnaprej določene in neoptimalne poti, potreba po ročnem spreminjanju kode ob spremembah poti ter pomanjkanje centralnega vodenja in komunikacije, kar lahko vodi do trkov. Cilj dela je razviti centraliziran sistem za zanesljivo navigacijo več robotov na mreži črt – trajektorij, ki temelji na konceptu digitalnega dvojčka. Razvit je bil sistem, ki je implementiran na Node.js strežniku, simulira dogajanje v realnem času, načrtuje optimalne poti in preprečuje trke. Roboti micro:Maqueen V2 z mikrokrmilnikom ESP32 preko WebSocket povezave komunicirajo s strežnikom ter sledijo črtam na osnovi prejetih ukazov. Razvit je bil tudi uporabniški vmesnik za vizualizacijo in upravljanje ter algoritem za kalibracijo simulacije. Razviti sistem omogoča zanesljivo navigacijo in usklajenost med fizičnimi in simuliranimi roboti, občasne napake pa izhajajo predvsem iz omejitev strojne opreme. Sistem predstavlja modularno osnovo za prihodnje nadgradnje in integracijo v demonstracijsko platformo. In recent decades, mobile robots have become crucial for the automation and optimization of internal logistics in industry. Automated guided vehicles (AGVs) are mobile robots that follow trajectories marked on the ground. These robots can be perceptually limited, for example, having only sensors for line following. This leads to several limitations: predefined and suboptimal paths, the need for manual code changes when paths are altered, and a lack of central guidance and communication, which can lead to collisions. The goal of this thesis is to develop a centralized system for the reliable navigation of multiple robots on a grid of lines – trajectories, based on the concept of a digital twin. A system was developed, implemented on a Node.js server, that simulates events in real-time, plans optimal paths and prevents collisions. The micro:Maqueen V2 robots, equipped with an ESP32 microcontroller, communicate with the server via a WebSocket connection and follow lines based on received commands. A user interface for visualization and management, as well as an algorithm for simulation calibration were also developed. The developed system enables reliable navigation and coordination between the physical and simulated robots, with occasional errors arising mainly from hardware limitations. The system provides a modular foundation for future upgrades and integration into a demonstration platform. mobilni roboti AGV digitalni dvojček simulacija centralizirano vodenje navigacija mobile robots AGV digital twin simulation centralized control navigation true false false Slovenski jezik Angleški jezik Magistrsko delo/naloga 2025-10-24 08:30:43 2025-10-24 08:30:47 2025-12-10 03:35:01 0000-00-00 00:00:00 2025 0 0 XX, 62 str. 2025 0000-00-00 NiDoloceno NiDoloceno NiDoloceno 0000-00-00 0000-00-00 0000-00-00 004.89:007.52(043.2) 277325 255686659 45526.pdf 45526.pdf 1 8D9DFA77254FD75EA411E96568C252F9 bcf5d86dd1c93790125fda32d1a01bbea5fe86e1ef57f1b6fb253d871f32cb57 b00c93b6-b0a2-11f0-9328-0050569b8976 https://repozitorij.uni-lj.si/Dokument.php?lang=slv&id=220770 Fakulteta za strojništvo 0 0 0