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Brezžično vodenje mobilne platforme s pomočjo kamere
ID Kresnik, Žan (Author), ID Blažič, Sašo (Mentor) More about this mentor... This link opens in a new window, ID Bošnak, Matevž (Co-mentor)

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Abstract
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.

Language:Slovenian
Keywords:vodenje, regulacija, PID-regulator, zakasnitve pri vodenju, brezžično vodenje, mikroračunalniški regulator, servomotor, vsesmerno kolo, kamera, avtonomno parkiranje
Work type:Bachelor thesis/paper
Organization:FE - Faculty of Electrical Engineering
Year:2023
PID:20.500.12556/RUL-148812 This link opens in a new window
Publication date in RUL:31.08.2023
Views:474
Downloads:46
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Secondary language

Language:English
Title:Camera-based wireless control of a mobile platform
Abstract:
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.

Keywords:control, regulation, PID controller, delays in control, wireless control, microcomputer controller, servomotor, omnidirectional wheels, camera, autonomous parking

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