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master's thesis
Sigurnosni sustav laserskih senzora udaljenosti na svesmjernom mobilnom robotu
Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing, 2021. urn:nbn:hr:168:677978
Balaban, Antonio
University of Zagreb
Faculty of Electrical Engineering and Computing

Institutional repository: FER Repository

Cite this document

Balaban, A. (2021). Sigurnosni sustav laserskih senzora udaljenosti na svesmjernom mobilnom robotu (Master's thesis). Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing. Retrieved from https://urn.nsk.hr/urn:nbn:hr:168:677978

Balaban, Antonio. "Sigurnosni sustav laserskih senzora udaljenosti na svesmjernom mobilnom robotu." Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, 2021. https://urn.nsk.hr/urn:nbn:hr:168:677978

Balaban, Antonio. "Sigurnosni sustav laserskih senzora udaljenosti na svesmjernom mobilnom robotu." Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, 2021. https://urn.nsk.hr/urn:nbn:hr:168:677978

Balaban, A. (2021). 'Sigurnosni sustav laserskih senzora udaljenosti na svesmjernom mobilnom robotu', Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, accessed 27 December 2024, https://urn.nsk.hr/urn:nbn:hr:168:677978

Balaban A. Sigurnosni sustav laserskih senzora udaljenosti na svesmjernom mobilnom robotu [Master's thesis]. Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing; 2021 [cited 2024 December 27] Available at: https://urn.nsk.hr/urn:nbn:hr:168:677978

A. Balaban, "Sigurnosni sustav laserskih senzora udaljenosti na svesmjernom mobilnom robotu", Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, Zagreb, 2021. Available at: https://urn.nsk.hr/urn:nbn:hr:168:677978

Metadata
TitleSigurnosni sustav laserskih senzora udaljenosti na svesmjernom mobilnom robotu
Title (english)Safety laser range finder system on a omnidirectional mobile robot
AuthorAntonio Balaban
MentorMarija Seder (mentor)
Committee memberMarija Seder (predsjednik povjerenstva)
Committee memberIvan Petrović (član povjerenstva)
Committee memberIvan Marković (član povjerenstva)
GranterUniversity of Zagreb
Faculty of Electrical Engineering and Computing
Zagreb
Defense date and country2021-07-13, Croatia
Scientific / art field,
discipline and subdiscipline		TECHNICAL SCIENCES
Electrical Engineering
Abstract
U ovom diplomskom radu naglasak se stavlja na sigurnosni sustav mobilne platforme sa četiri švedska kotača koja joj omogućuju gibanje u svim smjerovima. Na mobilnoj platformi dijagnonalno su postavljena dva laserska senzora Sick 300 poznata kao "Safety sick" skeneri. Za zaustavljanje platforme koristi se postavljeni sigurnosni logički kontroler koji neovisno o upravljnju moblinim robotom zaustavlja njegovo gibanje kada se detektira prepreka u definiranim zaustavnim zonama. Dodatno je implementiran sigurnosni sustav izveden Arduino razvojnom pločicom i pripadajućim modulima koji može raditi u jednom od dva odabrana režima rada. Sigurnosni sustav izveden Arduinom nešto je fleksibilniji u odnosu na sigurnosni sustav reliziran sigurnosnim kontrolerom, te dopušta gibanje platforme i nakon detekcije prepreke u sigurnosnoj zoni uz dodatnu zaštitu u obliku python skripte koja obrađuje laserska očitanja senzora i zaustavlja platformu kada se zadovolje potrebni uvijeti. Naposlijetku se radi analiza sigurnosnih sustava u vidu izračuna minimalne sigurnosne udaljenosti Ds koja se treba postaviti na laserski senzor kako bi se robot pravovremeno zaustavio. Također, rad sigurnosnog sustava analizira se u stvarnom vremenu primijenjenom za lokalizaciju mobilne platforme.
Abstract (english)
In this master's thesis, emphasis is put on the safety system of the mobile platform with four swedish wheels which enable it to move in all directions. On the platform, there are two Sick 300 laser sensors (also known as Safety sick scanners) which are set diagonally from each other. Safety logic controller is used to stop the platform, which stops its moving when obstacles are detected in the defined stop zones, regardless of whether someone is controlling the mobile robot. Safety system, made by using Arduino open-source hardware and belonging modules can work in one of two selected regimens is additionally implemented. Safety system made by Arduino is somewhat more flexible in regards to safety system made with safety controller so it allows moving the platform even after the obstacle is detected in the safety zone with the additional protection in the form of python scrypt which processes laser readings of the sensors and the stops the platform when certain condiotions are satisfied. Finally, analysis of the safety systems is made in the form of calculations of minimal safety distance Ds which needs to be set on the laser sensor so the robot would be able to stop in time. Also, safety system is analysed in real time applied for localization of the mobile platform.
Keywords
Keywords (english)
Languagecroatian
URN:NBNurn:nbn:hr:168:677978
Study programmeTitle: Electrical Engineering and Information Technology
Study programme type: university
Study level: graduate
Academic / professional title: magistar/magistra inženjer/inženjerka elektrotehnike i informacijske tehnologije (magistar/magistra inženjer/inženjerka elektrotehnike i informacijske tehnologije)
Type of resourceText
File originBorn digital
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Created on2023-01-13 11:43:56