Razvoj mobilnega robota in usklajenega virtualnega simulacijskega modela

Gergolet, Luka (author), Vrabič, Rok (mentor)

V diplomski nalogi je predstavljen razvoj mobilnega robota z diferencialnim pogonom in njegove virtualne različice. Napravi sta usklajeni in opremljeni z ustrezno senzoriko, ki omogoča avtonomno vožnjo po prostoru. Usklajenost programskih kod omogoča razviti uporabniški vmesnik. Mobilni robot smo sestavili iz ustrezno izbranih komponent in razvitega tiskanega vezja. Programirali smo ga v okolju Arduino IDE. Pripadajoči simulacijski model robota smo zasnovali v simulatorju Webots, kjer smo sprogramirali uporabniški vmesnik. Usklajenost gibanja med realno in virtualno napravo smo dokazali z analizo translatorne in rotacijske hitrosti robotov.

• Language: Slovenian
• Keywords: mobilni robot z diferencialnim pogonom, simulator, krmiljenje, tiskana vezja, uporabniški vmesnik
• Work type: Bachelor thesis/paper
• Typology: 2.11 - Undergraduate Thesis
• Organization: FS - Faculty of Mechanical Engineering
• Place of publishing: Ljubljana
• Publisher: [L. Gergolet]
• Year: 2021
• Number of pages: XXII, 52 str.
• PID: 20.500.12556/RUL-130072
• UDC: 007.52:004.383.4(043.2)
• COBISS.SI-ID: 76834563
• Publication date in RUL: 10.09.2021

Secondary language

• Language: English
• Title: Development of a mobile robot and its virtual counterpart

Abstract

The work presented in this thesis is about the development of a differential drive robot and its virtual counterpart. The two parts are equipped with sensors which enable the autonomous drive of the robots in the space. A purpose developed user interface enables consistency across different program codes. The mobile robot was assembled using PCB and appropriate components. The robot was programmed using Arduino IDE. The virtual counterpart, as well as the user interface, were developed using Webots simulator. The simulation was validated by assessing the translational and rotational speeds of the physical model.

• Keywords: differential wheeled robot, simulator, control, printed circuit boards, user interface