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master's thesis
Neizrazito prediktivno upravljanje mobilnim robotom
Zagreb: University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, 2017. urn:nbn:hr:235:189296
Ceraj, Luka
University of Zagreb
Faculty of Mechanical Engineering and Naval Architecture

Institutional repository: Repository of Faculty of Mechanical Engineering and Naval Architecture University of Zagreb

Cite this document

Ceraj, L. (2017). Neizrazito prediktivno upravljanje mobilnim robotom (Master's thesis). Zagreb: University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture. Retrieved from https://urn.nsk.hr/urn:nbn:hr:235:189296

Ceraj, Luka. "Neizrazito prediktivno upravljanje mobilnim robotom." Master's thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, 2017. https://urn.nsk.hr/urn:nbn:hr:235:189296

Ceraj, Luka. "Neizrazito prediktivno upravljanje mobilnim robotom." Master's thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, 2017. https://urn.nsk.hr/urn:nbn:hr:235:189296

Ceraj, L. (2017). 'Neizrazito prediktivno upravljanje mobilnim robotom', Master's thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, accessed 13 July 2024, https://urn.nsk.hr/urn:nbn:hr:235:189296

Ceraj L. Neizrazito prediktivno upravljanje mobilnim robotom [Master's thesis]. Zagreb: University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture; 2017 [cited 2024 July 13] Available at: https://urn.nsk.hr/urn:nbn:hr:235:189296

L. Ceraj, "Neizrazito prediktivno upravljanje mobilnim robotom", Master's thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, Zagreb, 2017. Available at: https://urn.nsk.hr/urn:nbn:hr:235:189296

Metadata
TitleNeizrazito prediktivno upravljanje mobilnim robotom
Title (english)Mobile robot fuzzy predictive control
AuthorLuka Ceraj
MentorDubravko Majetić (mentor)
GranterUniversity of Zagreb
Faculty of Mechanical Engineering and Naval Architecture
Zagreb
Defense date and country2017-03-30, Croatia
Scientific / art field,
discipline and subdiscipline		TECHNICAL SCIENCES
Mechanical Engineering
Abstract
Mogućnost predikcije, tj. predviđanja nekog događaja u budućnosti na temelju stečenih znanja i prijašnjih iskustava već desetljećima ima važnu ulogu u velikom broju znanstvenih i neznanstvenih disciplina. Predikcija u strojarstvu ima široku primjenu, a posebno u robotici. U ovom radu je prikazan jedan takav primjer. U sustav mobilnog robota biti će implementiran estimator stanja koji će na temelju poznate pozicije estimirati vrijednosti brzine i akceleracije. Na temelju estimiranih podataka mobilni robot će 'predviđati' položaj drugog mobilnog robota u nekom zadanom budućem trenutku, te će na temelju estimiranog položaja pokušati sustići svoj cilj, tj. drugog mobilnog robota, u svrhu skraćivanja potrebne putanje i što je važnije, proteklog vremena. Mobilni robot je upravljan pomoću analitičkog neizrazitog regulatora uz korištenje estimatora stanja. Provedene su simulacije za različite referentne putanje i različita vremenska horizonta predikcije, te različite početne pozicije i orijentacije robota. Po jedan slučaj za svaku definiranu putanju je izveden u laboratoriju na realnim mobilnim robotima.
Abstract (english)
The possibility of prediction, i.e., prediction of a future event on the basis of acquired knowledge and previous experiences for decades has had an important role in a number of scientific and non-scientific disciplines. Prediction in mechanical engineering is widely used, especially in robotics. This paper presents one such example. The mobile robot system will be implemented with state estimator that will, given the known position estimate the value of speed and acceleration. Based on estimated data robot will 'predict' the position of the second mobile robot at a given future time, and will on the basis of the estimated position try to catch up with its target, i.e., second mobile robot, in order to shorten the necessary path and more importantly, the time elapsed. Mobile robot is controlled by analytical fuzzy controller using the state estimator. Simulations were performed for different reference trajectories and different time horizons of prediction, and different starting positions and orientations of the robots. One case for each defined path is performed in the laboratory with the real mobile robots.
Keywords
Keywords (english)
Languagecroatian
URN:NBNurn:nbn:hr:235:189296
Study programmeTitle: Mechanical Engineering
Study programme type: university
Study level: graduate
Academic / professional title: magistar/magistra inženjer/inženjerka strojarstva (magistar/magistra inženjer/inženjerka strojarstva)
Type of resourceText
File originBorn digital
Access conditionsOpen access
Terms of useLicence In copyright icon
Created on2019-05-22 19:25:29